Visual-Inertial Localization and Map Summarization Based on Prior Map

摘要：

　　Accurate localization of the robot is an important prerequisite for the autonomous mobile robot.Existing localization methods struggle with the cumulative drift errors problem.We proposes the visual-inertial localization method which based on multi prior maps and generates a summary map with a fixed map size.Specifically,for the localization problem with gravity alignment,the relative pose of the pitch and roll is known,which reduces the dimensions of the problem.For the 3D-2D data association of the map and current query image,both geometric and reprojection constrains are used.In the process of map summarization,the idea of iterative map building is proposed and a novel scoring strategy is exploited to limit the summary map to a fixed size.We evaluated our method on public and our datasets.The result indicates that our method owns higher localization accuracy and better robustness than other comparative method.

关键词： Visual-inertial localization Map summarization Priori map

作者: Bo Fu Yanmei Jiao Xiaqing Ding Yue Wang Rong Xiong

作者单位: Institute of Cyber-Systems and Control,Zhejiang University,Hangzhou 310027,China;State Key Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou 310027,China

会议类型: 国际会议

会议名称: 2019中国智能自动化大会(CIA,2019)

会议地点: 江苏镇江

会议语种:英文

页码: 347-355

在线出版日期: 2019-09-20（万方平台首次上网日期，不代表论文的发表时间）