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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1443-1449
Number of pages	7
ISBN (Electronic)	9781728186351
DOIs	https://doi.org/10.1109/ICCC51575.2020.9345275
State	Published - 11 Dec 2020
Externally published	Yes
Event	6th IEEE International Conference on Computer and Communications, ICCC 2020 - Chengdu, China Duration: 11 Dec 2020 → 14 Dec 2020

Publication series

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

Conference

Conference	6th IEEE International Conference on Computer and Communications, ICCC 2020
Country/Territory	China
City	Chengdu
Period	11/12/20 → 14/12/20

Keywords

component
low-textureenvironment
visual-inertial odometry;point and line features

Access to Document

10.1109/ICCC51575.2020.9345275

Cite this

Chen, G., Zhang, H., Fu, W., & Qiao, Y. (2020). Monocular Visual-Inertial Odometry Based on Point and Line Features. In 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020 (pp. 1443-1449). Article 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

@inproceedings{a977fd28db5e4b06b2b724568fdc3c87,

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.",

pages = "1443--1449",

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

}

Chen, G, Zhang, H, Fu, W & Qiao, Y 2020, Monocular Visual-Inertial Odometry Based on Point and Line Features. in 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., pp. 1443-1449, 6th IEEE International Conference on Computer and Communications, ICCC 2020, Chengdu, China, 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 et al.
2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1443-1449 9345275 (2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

UR - http://www.scopus.com/inward/record.url?scp=85101671357&partnerID=8YFLogxK

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. In 2020 IEEE 6th International Conference on Computer and Communications, ICCC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 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

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this