Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 6
1739-1743,1769

Efficient visual odometry algorithm combining stereo vision and inertial navigation information

Pan Linhao
Tian Fuqing
Ying Wenjian
She Bo
College of Weapon, Naval University of Engineering, Wuhan 430033, China
DOI: 10.19734/j.issn.1001-3695.2020.08.0188

Abstract

In order to improve the real-time performance of VO(visual odometry) in large-scale environment, this paper proposed a VO algorithm based on stereo vision and inertial navigation information. The algorithm consisted of two threads: the front-end tracking thread and the back-end local mapping thread. The tracking thread firstly used the inertial navigation information assisted optical flow method to track the features between frames and estimate the initial pose of the camera. Then, it obtained the corresponding relationship between the pixels of the current frame and the local map points by minimizing the photometric error, and obtained the accurate pose estimation of the current frame by minimizing the re-projection error of the local map points on the current frame and pre-integration error of the IMU(inertial measurement unit). The back-end local mapping thread extracted features from the keyframes in the sliding window and triangulated new map points. It used BA(bundle adjustment) to optimize the map point positions, keyframe poses, velocities and gyroscope and accelerometer biases in the sliding window, which could provide more accurate local pose trajectory and environment information for the front-end. The experiment on the EuRoC datasets shows that, the positioning accuracy of the proposed algorithm is slightly reduced, however it can greatly improve the real-time performance of pose tracking comparing with the ORB-SLAM2 algorithm and the ORB-SLAM3 algorithm.

Foundation Support

国家自然科学基金资助项目
海军工程大学自主立项基金资助项目

Publish Information

DOI: 10.19734/j.issn.1001-3695.2020.08.0188
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 6
Section: Algorithm Research & Explore
Pages: 1739-1743,1769
Serial Number: 1001-3695(2021)06-025-1739-05

Publish History

[2021-06-05] Printed Article

Cite This Article

潘林豪, 田福庆, 应文健, 等. 融合双目视觉与惯导信息的高效视觉里程计算法 [J]. 计算机应用研究, 2021, 38 (6): 1739-1743,1769. (Pan Linhao, Tian Fuqing, Ying Wenjian, et al. Efficient visual odometry algorithm combining stereo vision and inertial navigation information [J]. Application Research of Computers, 2021, 38 (6): 1739-1743,1769. )

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  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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