Monocular Visual-Inertial Odometry Based on Point and Line Features

Gongyan Chen; Hai Zhang; Wenxing Fu; Yiqun Qiao

doi:10.1109/ICCC51575.2020.9345275

Monocular Visual-Inertial Odometry Based on Point and Line Features

Gongyan Chen, Hai Zhang, Wenxing Fu, Yiqun Qiao

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.

源语言	英语
主期刊名	2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1443-1449
页数	7
ISBN（电子版）	9781728186351
DOI	https://doi.org/10.1109/ICCC51575.2020.9345275
出版状态	已出版 - 11 12月 2020
已对外发布	是
活动	6th IEEE International Conference on Computer and Communications, ICCC 2020 - Chengdu, 中国期限: 11 12月 2020 → 14 12月 2020

出版系列

姓名	2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020

会议

会议	6th IEEE International Conference on Computer and Communications, ICCC 2020
国家/地区	中国
市	Chengdu
时期	11/12/20 → 14/12/20

访问文件

10.1109/ICCC51575.2020.9345275

其它文件与链接

链接到 Scopus 的出版物

引用此

Chen, G., Zhang, H., Fu, W., & Qiao, Y. (2020). Monocular Visual-Inertial Odometry Based on Point and Line Features. 在 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020 (页码 1443-1449). 文章 9345275 (2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCC51575.2020.9345275

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title = "Monocular Visual-Inertial Odometry Based on Point and Line Features",

abstract = "In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.",

keywords = "component, low-textureenvironment, visual-inertial odometry;point and line features",

author = "Gongyan Chen and Hai Zhang and Wenxing Fu and Yiqun Qiao",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 6th IEEE International Conference on Computer and Communications, ICCC 2020 ; Conference date: 11-12-2020 Through 14-12-2020",

year = "2020",

month = dec,

day = "11",

doi = "10.1109/ICCC51575.2020.9345275",

language = "英语",

series = "2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Chen, G, Zhang, H, Fu, W & Qiao, Y 2020, Monocular Visual-Inertial Odometry Based on Point and Line Features. 在 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020., 9345275, 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020, Institute of Electrical and Electronics Engineers Inc., 页码 1443-1449, 6th IEEE International Conference on Computer and Communications, ICCC 2020, Chengdu, 中国, 11/12/20. https://doi.org/10.1109/ICCC51575.2020.9345275

Monocular Visual-Inertial Odometry Based on Point and Line Features. / Chen, Gongyan; Zhang, Hai; Fu, Wenxing 等.
2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 1443-1449 9345275 (2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Monocular Visual-Inertial Odometry Based on Point and Line Features

AU - Chen, Gongyan

AU - Zhang, Hai

AU - Fu, Wenxing

AU - Qiao, Yiqun

PY - 2020/12/11

Y1 - 2020/12/11

N2 - In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.

AB - In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.

KW - component

KW - low-textureenvironment

KW - visual-inertial odometry;point and line features

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U2 - 10.1109/ICCC51575.2020.9345275

DO - 10.1109/ICCC51575.2020.9345275

M3 - 会议稿件

AN - SCOPUS:85101671357

T3 - 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020

SP - 1443

EP - 1449

BT - 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE International Conference on Computer and Communications, ICCC 2020

Y2 - 11 December 2020 through 14 December 2020

ER -

Chen G, Zhang H, Fu W, Qiao Y. Monocular Visual-Inertial Odometry Based on Point and Line Features. 在 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 页码 1443-1449. 9345275. (2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020). doi: 10.1109/ICCC51575.2020.9345275

Monocular Visual-Inertial Odometry Based on Point and Line Features

摘要

出版系列

会议

访问文件

其它文件与链接

指纹

引用此