DynaVIG: 動的環境におけるAGV向け単眼視覚/INS/GNSS統合ナビゲーションと物体追跡
DynaVIG: Monocular Vision/INS/GNSS Integrated Navigation and Object Tracking for AGV in Dynamic Scenes
単眼カメラ・慣性航法・GNSSを統合し、動的環境でAGVの自己位置と物体姿勢を高精度に推定するシステムを提案。スケール推定と運動モデルにより複雑な動きの物体追跡も改善。
著者: Ronghe Jin, Yan Wang, Zhi Gao, Xiaoji Niu, Li-Ta Hsu, Jingnan Liu
分類: cs.RO
原文アブストラクト
Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision, Inertial Navigation System (INS), and Global Navigation Satellite System (GNSS). Our system aims to provide an accurate global estimation of the navigation states and object poses for the automated ground vehicle (AGV) in dynamic scenes. Due to the scale ambiguity of the object, a prior height model is proposed to initialize the object pose, and the scale is continuously estimated with the aid of GNSS and INS. To precisely track the object with complex moving, we establish an accurate dynamics model according to its motion state. Then the multi-sensor observations are optimized in a unified framework. Experiments on the KITTI dataset demonstrate that the multisensor fusion can effectively improve the accuracy of navigation and object tracking, compared to state-of-the-art methods. In addition, the proposed system achieves good estimation of the objects that change speed or direction.
