Point and Line Feature-Based VIO for Mobile Devices

被引：0

作者：

Kim, Yeeun ^{[1
]}

Lim, Hyunjun ^{[1
]}

Myung, Hyun ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol KAIST, Sch Elect Engn, Daejeon, South Korea

来源：

ROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS 6 | 2022年 / 429卷

关键词：

VIO; Mobile device; Line feature; ROBUST;

D O I：

10.1007/978-3-030-97672-9_25

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Localization is an important task in various fields. Especially, a robust and accurate localization system is required for a mobile device to be used in AR (augmented reality) or MR (mixed reality) applications. In this paper, we present an accurate visual-inertial odometry algorithm based on both point and line features. This algorithm utilizes a sliding window non-linear optimization-based method to reduce the computational cost. We implemented our proposed algorithm on a smartphone. Also, we show that our proposed algorithm works well in indoor and outdoor environments in real-time.

引用

页码：284 / 290

页数：7

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