A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching

doi:10.1109/LRA.2021.3113987

	A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching
	Wei, Hao 1,2; Tang, Fulin 1; Xu, Zewen 1,2; Zhang, Chaofan 3; Wu, Yihong 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2021-10-01
卷号	6
关键词	Simultaneous localization and mapping Feature extraction Three-dimensional displays Tracking Jacobian matrices Motion segmentation Cameras Visual-Inertial SLAM SLAM
ISSN号	2377-3766
DOI	10.1109/LRA.2021.3113987
通讯作者	Zhang, Chaofan(zcfan@aiofm.ac.cn) ; Wu, Yihong(yihong.wu@ia.ac.cn)
英文摘要	Weak texture and motion blur are always challenging problems for visual-inertial odometry (VIO) systems. To improve accuracy of VIO systems in the challenging scenes, we propose a point-line-based VIO system with novel feature hybrids and with novel predicting-matching for long line track. Point-line features with shorter tracks are categorized into "MSCKF" features and with longer tracks into "SLAM" features. Especially, "SLAM" lines are added into the state vector to improve accuracy of the proposed system. Besides, to ensure the reliability and stability of detection and tracking of line features, we also propose a new "Predicting-Matching" line segment tracking method to increase the track lengths of line segments. Experimental results show that the proposed method outperforms the state-of-the-art methods of VINS-Mono [1], PL-VINS [2] and OpenVINS [3]) on both a public dataset and a collected dataset in terms of accuracy. The collected dataset is full of extremely weak textures and motion blurs. On this dataset, the proposed method also obtains better accuracy than ORB-SLAM3 [4].
资助项目	National Natural Science Foundation of China[61836015] ; National Natural Science Foundation of China[62002359] ; Beijing Advanced Discipline Fund[115200S001]
WOS关键词	ROBUST
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000704109700008
资助机构	National Natural Science Foundation of China ; Beijing Advanced Discipline Fund
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/125028]
专题	中国科学院合肥物质科学研究院
通讯作者	Zhang, Chaofan; Wu, Yihong
作者单位	1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100864, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Hefei Inst Phys Sci, Anhui Inst Opt & Fine Mech, Hefei 230031, Peoples R China
推荐引用方式 GB/T 7714	Wei, Hao,Tang, Fulin,Xu, Zewen,et al. A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6.
APA	Wei, Hao,Tang, Fulin,Xu, Zewen,Zhang, Chaofan,&Wu, Yihong.(2021).A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching.IEEE ROBOTICS AND AUTOMATION LETTERS,6.
MLA	Wei, Hao,et al."A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching".IEEE ROBOTICS AND AUTOMATION LETTERS 6(2021).