Lightweight omnidirectional visual-inertial odometry for MAVs based on improved keyframe tracking and marginalization

IF 1.7 4区 计算机科学 Q3 TELECOMMUNICATIONS Telecommunication Systems Pub Date : 2024-08-12 DOI:10.1007/s11235-024-01208-4
Bo Gao, Baowang Lian, Chengkai Tang
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Abstract

Due to the limited onboard resources on Micro Aerial Vehicles (MAVs), the poor real-time performance has always been an urgent problem to be solved in the practical applications of visual inertial odometry (VIO). Therefore, a lightweight omnidirectional visual-inertial odometry (LOVIO) for MAVs based on improved keyframe tracking and marginalization was proposed. In the front-end processing of LOVIO, wide field-of-view (FOV) images are captured by an omnidirectional camera, frames are tracked by semi-direct method combining of direct method with rapidity and feature-based method with accuracy. In the back-end optimization, the Hessian matrix corresponding to the error optimization equation is stepwise marginalized, so the high-dimensional matrix is decomposed and the operating efficiency is improved. Experimental results on the dataset TUM-VI show that LOVIO can significantly reduce running time consumption without loss of precision and robustness, that means LOVIO has better real-time and practicability for MAVs.

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基于改进的关键帧跟踪和边缘化技术的轻量级全向视觉惯性飞行器测距仪
由于微型飞行器(MAVs)的机载资源有限,实时性差一直是视觉惯性测距(VIO)实际应用中亟待解决的问题。因此,有人提出了一种基于改进的关键帧跟踪和边际化的轻量级全向视觉惯性里程计(LOVIO)。在 LOVIO 的前端处理过程中,全向相机捕捉宽视场(FOV)图像,采用半直接方法跟踪帧,该方法结合了快速的直接方法和精确的基于特征的方法。在后端优化中,误差优化方程对应的 Hessian 矩阵被逐步边际化,从而分解了高维矩阵,提高了运行效率。在数据集 TUM-VI 上的实验结果表明,LOVIO 可以在不损失精度和鲁棒性的情况下显著减少运行时间消耗,这意味着 LOVIO 对无人飞行器具有更好的实时性和实用性。
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来源期刊
Telecommunication Systems
Telecommunication Systems 工程技术-电信学
CiteScore
5.40
自引率
8.00%
发文量
105
审稿时长
6.0 months
期刊介绍: Telecommunication Systems is a journal covering all aspects of modeling, analysis, design and management of telecommunication systems. The journal publishes high quality articles dealing with the use of analytic and quantitative tools for the modeling, analysis, design and management of telecommunication systems covering: Performance Evaluation of Wide Area and Local Networks; Network Interconnection; Wire, wireless, Adhoc, mobile networks; Impact of New Services (economic and organizational impact); Fiberoptics and photonic switching; DSL, ADSL, cable TV and their impact; Design and Analysis Issues in Metropolitan Area Networks; Networking Protocols; Dynamics and Capacity Expansion of Telecommunication Systems; Multimedia Based Systems, Their Design Configuration and Impact; Configuration of Distributed Systems; Pricing for Networking and Telecommunication Services; Performance Analysis of Local Area Networks; Distributed Group Decision Support Systems; Configuring Telecommunication Systems with Reliability and Availability; Cost Benefit Analysis and Economic Impact of Telecommunication Systems; Standardization and Regulatory Issues; Security, Privacy and Encryption in Telecommunication Systems; Cellular, Mobile and Satellite Based Systems.
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