Скачать или смотреть Direct Visual-Inertial Odometry with Stereo Cameras

Direct Visual-Inertial Odometry with Stereo Cameras (ICRA 2016)

Authors: Vladyslav Usenko, Jakob Engel, Jörg Stückler, Daniel Cremers

Paper: https://vision.cs.tum.edu/_media/spez...

Abstract:
We propose a novel direct visual-inertial odometry
method for stereo cameras. Camera pose, velocity and IMU
biases are simultaneously estimated by minimizing a combined
photometric and inertial energy functional. This allows us to
exploit the complementary nature of vision and inertial data.
At the same time, and in contrast to all existing visual-inertial
methods, our approach is fully direct: geometry is estimated
in the form of semi-dense depth maps instead of manually
designed sparse keypoints. Depth information is obtained both
from static stereo – relating the fixed-baseline images of the
stereo camera – and temporal stereo – relating images from the
same camera, taken at different points in time. We show that
our method outperforms not only vision-only or loosely coupled
approaches, but also can achieve more accurate results than
state-of-the-art keypoint-based methods on different datasets,
including rapid motion and significant illumination changes. In
addition, our method provides high-fidelity semi-dense, metric
reconstructions of the environment, and runs in real-time on a
CPU.