単眼視覚慣性システムにおけるメートルスケール推定の疎結合アプローチ
A Loosely-Coupled Approach for Metric Scale Estimation in Monocular Vision-Inertial Systems
単眼オドメトリと慣性計測を疎結合で融合し、スケール曖昧性を解消してメートル単位の距離と高頻度な姿勢推定を実現する手法を提案した。
著者: Ariane Spaenlehauer, Vincent Fremont, Y. Ahmet Sekercioglu, Isabelle Fantoni
分類: cs.RO
原文アブストラクト
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or tracking to estimate metric distances in inertial-monocular systems and to increase the rate of pose estimates. As we performed the fusion in a loosely-coupled manner, each input block can be easily replaced with one's preference, which makes our method quite flexible. We experimented our method using the ORB-SLAM algorithm for the monocular tracking input and Euler forward integration to process the inertial measurements. We chose sets of data recorded on UAVs to design a suitable system for flying robots.
