PLC-VIO: Visual-Inertial Odometry Based on Point-Line Constraints

Visual-inertial odometry (VIO) is widely studied and used in autonomous robots. This article proposes a novel tightly coupled monocular VIO system based on point-line constraints (PLC-VIO). In the front end, PLC-VIO presents a line segment extraction and merging algorithm based on the EDLines method...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2022-07, Vol.19 (3), p.1-18
Hauptverfasser:	Liu, Zhe, Shi, Dianxi, Li, Ruihao, Qin, Wei, Zhang, Yongjun, Ren, Xiaoguang
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Augmented reality Autonomous navigation Cameras Cost function Datasets Error analysis Estimation Feature extraction Feature line Geometric constraints Inertial platforms monocular visual-inertial odometry (VIO) Optimization Performance evaluation point-line constraints Pose estimation Real time Real-time systems Rigid structures Robots Robustness sensor fusion State estimation Technological innovation Virtual reality Visualization
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