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Co-Planar Parametrization for Stereo-SLAM and Visual-Inertial Odometry | IEEE Journals & Magazine | IEEE Xplore

Co-Planar Parametrization for Stereo-SLAM and Visual-Inertial Odometry


Abstract:

This letter proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and ...Show More

Abstract:

This letter proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera pose optimization in terms of both efficiency and accuracy. The pipeline consists of extracting 2D points and lines, predicting planar regions and filtering the outliers via RANSAC. Our parametrization scheme then represents co-planar points and lines as their 2D image coordinates and parameters of planes. We demonstrate the effectiveness of the proposed method by comparing it to traditional parametrizations in a novel Monte-Carlo simulation set. Further, the whole stereo SLAM and VIO system is compared with state-of-the-art methods on the public real-world dataset EuRoC. Our method shows better results in terms of accuracy and efficiency than the state-of-the-art. The code is released at https://github.com/LiXin97/Co-Planar-Parametrization.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 4, October 2020)
Page(s): 6972 - 6979
Date of Publication: 28 September 2020

ISSN Information:


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