An Improved Initialization Method for Monocular Visual-Inertial SLAM

Electronics

Jun Cheng¹  Liyan Zhang¹  Qihong Chen¹ 

[1] School of Automation, Wuhan University of Technology, Wuhan 430070, China;

关键词: VI-SLAM;    initialization;    localization;    optimization;   

DOI  :  10.3390/electronics10243063

来源: DOAJ

【 摘 要 】

In the aim of improving the positioning accuracy of the monocular visual-inertial simultaneous localization and mapping (VI-SLAM) system, an improved initialization method with faster convergence is proposed. This approach is classified into three parts: Firstly, in the initial stage, the pure vision measurement model of ORB-SLAM is employed to make all the variables visible. Secondly, the frequency of the IMU and camera was aligned by IMU pre-integration technology. Thirdly, an improved iterative method is put forward for estimating the initial parameters of IMU faster. The estimation of IMU initial parameters is divided into several simpler sub-problems, containing direction refinement gravity estimation, gyroscope deviation estimation, accelerometer bias, and scale estimation. The experimental results on the self-built robot platform show that our method can up-regulate the initialization convergence speed, simultaneously improve the positioning accuracy of the entire VI-SLAM system.

【 授权许可】

Unknown