TY - GEN
T1 - A Robust Visual-Inertial Odometry Leveraging Point and Structural Line Features
AU - Liu, Yumin
AU - Cai, Zhihao
AU - Ji, Jiawei
AU - Zhao, Jiang
AU - Wang, Yingxun
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - This paper presents a robust Visual-Inertial Odometry that leverages point and structural line features for complex environments with lighting changes, low textures or repetitive textures. Firstly, a front-end with structural line features is designed. Based on the Atlanta World hypothesis, structural line parameterization, extraction, and triangulation methods are proposed for lines with vertical and horizontal direction; Secondly, a non-linear optimization back-end based on sliding-window is carried out, which is tightly coupled with structural line residual. Finally, the localization accuracy of the odometry is verified through real-world experiments.
AB - This paper presents a robust Visual-Inertial Odometry that leverages point and structural line features for complex environments with lighting changes, low textures or repetitive textures. Firstly, a front-end with structural line features is designed. Based on the Atlanta World hypothesis, structural line parameterization, extraction, and triangulation methods are proposed for lines with vertical and horizontal direction; Secondly, a non-linear optimization back-end based on sliding-window is carried out, which is tightly coupled with structural line residual. Finally, the localization accuracy of the odometry is verified through real-world experiments.
KW - point-line fusion
KW - structural line
KW - visual-inertial odometry
UR - https://www.scopus.com/pages/publications/105000829006
U2 - 10.1007/978-981-96-2204-7_25
DO - 10.1007/978-981-96-2204-7_25
M3 - 会议稿件
AN - SCOPUS:105000829006
SN - 9789819622030
T3 - Lecture Notes in Electrical Engineering
SP - 257
EP - 267
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 2
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -