Direct visual-inertial odometry with stereo cameras
Usenko V, Engel J, Stuckler J, Cremers D (2016)
Publication Type: Conference contribution
Publication year: 2016
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2016-June
Pages Range: 1885-1892
Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation
Event location: Stockholm, SWE
ISBN: 9781467380263
DOI: 10.1109/ICRA.2016.7487335
Abstract
We propose a novel direct visual-inertial odometry method for stereo cameras. Camera pose, velocity and IMU biases are simultaneously estimated by minimizing a combined photometric and inertial energy functional. This allows us to exploit the complementary nature of vision and inertial data. At the same time, and in contrast to all existing visual-inertial methods, our approach is fully direct: geometry is estimated in the form of semi-dense depth maps instead of manually designed sparse keypoints. Depth information is obtained both from static stereo - relating the fixed-baseline images of the stereo camera - and temporal stereo - relating images from the same camera, taken at different points in time. We show that our method outperforms not only vision-only or loosely coupled approaches, but also can achieve more accurate results than state-of-the-art keypoint-based methods on different datasets, including rapid motion and significant illumination changes. In addition, our method provides high-fidelity semi-dense, metric reconstructions of the environment, and runs in real-time on a CPU.
Involved external institutions
Germany (DE)How to cite
APA:
Usenko, V., Engel, J., Stuckler, J., & Cremers, D. (2016). Direct visual-inertial odometry with stereo cameras. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1885-1892). Stockholm, SWE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Usenko, Vladyslav, et al. "Direct visual-inertial odometry with stereo cameras." Proceedings of the 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, SWE Institute of Electrical and Electronics Engineers Inc., 2016. 1885-1892.
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