StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environments Article Swipe
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· 2018
· Open Access
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· DOI: https://doi.org/10.48550/arxiv.1810.06796
We propose a novel visual-inertial odometry approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a world that contains multiple local Manhattan worlds with different heading directions. Each local Manhattan world is detected on-the-fly, and their headings are gradually refined by the state estimator when new observations are coming. With fully exploration of structural lines that aligned with each local Manhattan worlds, our visual-inertial odometry method become more accurate and robust, as well as much more flexible to different kinds of complex man-made environments. Through extensive benchmark tests and real-world tests, the results show that the proposed approach outperforms existing visual-inertial systems in large-scale man-made environments
Related Topics To Compare & Contrast
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/1810.06796
- https://arxiv.org/pdf/1810.06796
- OA Status
- green
- Cited By
- 3
- References
- 29
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2896458092