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
收藏
页码：284 / 290
页数：7
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