[go: up one dir, main page]

Zou et al., 2019 - Google Patents

StructVIO: Visual-inertial odometry with structural regularity of man-made environments

Zou et al., 2019

View PDF
Document ID
4905544432024403709
Author
Zou D
Wu Y
Pei L
Ling H
Yu W
Publication year
Publication venue
IEEE Transactions on Robotics

External Links

Snippet

In this paper, we propose a novel visual-inertial odometry (VIO) approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a …
Continue reading at arxiv.org (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00221—Acquiring or recognising human faces, facial parts, facial sketches, facial expressions
    • G06K9/00288—Classification, e.g. identification
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically, i.e. tracking systems
    • G01S3/7864—T.V. type tracking systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image
    • G06T3/0068—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image for image registration, e.g. elastic snapping

Similar Documents

Publication Publication Date Title
Zou et al. StructVIO: Visual-inertial odometry with structural regularity of man-made environments
Zhou et al. StructSLAM: Visual SLAM with building structure lines
Yin et al. Dynam-SLAM: An accurate, robust stereo visual-inertial SLAM method in dynamic environments
Qin et al. Vins-mono: A robust and versatile monocular visual-inertial state estimator
Yang et al. Pop-up slam: Semantic monocular plane slam for low-texture environments
US11127203B2 (en) Leveraging crowdsourced data for localization and mapping within an environment
Bleser et al. Advanced tracking through efficient image processing and visual–inertial sensor fusion
Panahandeh et al. Vision-aided inertial navigation based on ground plane feature detection
Tang et al. LE-VINS: A robust solid-state-LiDAR-enhanced visual-inertial navigation system for low-speed robots
US20150235367A1 (en) Method of determining a position and orientation of a device associated with a capturing device for capturing at least one image
Deretey et al. Visual indoor positioning with a single camera using PnP
Liu et al. PLC-VIO: Visual–inertial odometry based on point-line constraints
US10977810B2 (en) Camera motion estimation
Chen et al. VPL-SLAM: a vertical line supported point line monocular SLAM system
Feng et al. VIMOT: A tightly coupled estimator for stereo visual-inertial navigation and multiobject tracking
Meilland et al. A spherical robot-centered representation for urban navigation
Lu et al. Vision-based localization methods under GPS-denied conditions
Alliez et al. Real-time multi-SLAM system for agent localization and 3D mapping in dynamic scenarios
Morelli et al. COLMAP-SLAM: A framework for visual odometry
Chen et al. Stereo visual inertial pose estimation based on feedforward and feedbacks
Lin et al. A sparse visual odometry technique based on pose adjustment with keyframe matching
Xu et al. Bifocal-binocular visual SLAM system for repetitive large-scale environments
CN112945233A (en) Global drift-free autonomous robot simultaneous positioning and map building method
Xie et al. Angular tracking consistency guided fast feature association for visual-inertial slam
Shewail et al. Survey of indoor tracking systems using augmented reality