距離センサ支援による下向き視覚慣性オドメトリ
RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry
下向きカメラと距離センサを用い、ホモグラフィの光度コストとIMU正則化を統合した高速・高密度な視覚慣性オドメトリを提案し、MAV向け既存手法を上回る性能を示した。
著者: Bo Fu, Kumar Shaurya Shankar, Nathan Michael
分類: cs.RO
原文アブストラクト
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a reliable complementary odometry algorithm enables robust and resilient flight. Using the common local planarity assumption, we present a fast, dense, and direct frame-to-frame visual-inertial odometry algorithm for downward facing cameras that minimises a joint cost function involving a homography based photometric cost and an IMU regularisation term. Via extensive evaluation in a variety of scenarios we demonstrate superior performance than existing state-of-the-art downward facing odometry algorithms for Micro Aerial Vehicles (MAVs).
