Abstract
One approach to improve the accuracy and robustness of vision-aided inertial navigation systems (VINS) that employ low-cost inertial sensors, is to obtain scale information from stereoscopic vision. Processing images from two cameras, however, is computationally expensive and increases latency. To address this limitation, in this work, a novel two-camera alternating-stereo VINS is presented. Specifically, the proposed system triggers the left-right cameras in an alternating fashion, estimates the poses corresponding to the left camera only, and introduces a linear interpolation model for processing the alternating right camera measurements. Although not a regular stereo system, the alternating visual observations when employing the proposed interpolation scheme, still provide scale information, as shown by analyzing the observability properties of the vision-only corresponding system. Finally, the performance gain, of the proposed algorithm over its monocular and stereo counterparts is assessed using various datasets.
Original language | English (US) |
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Title of host publication | Proceedings - 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018 |
Publisher | IEEE Computer Society |
Pages | 4729-4737 |
Number of pages | 9 |
ISBN (Electronic) | 9781538664209 |
DOIs | |
State | Published - Dec 14 2018 |
Event | 31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018 - Salt Lake City, United States Duration: Jun 18 2018 → Jun 22 2018 |
Publication series
Name | Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition |
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ISSN (Print) | 1063-6919 |
Conference
Conference | 31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018 |
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Country/Territory | United States |
City | Salt Lake City |
Period | 6/18/18 → 6/22/18 |
Bibliographical note
Publisher Copyright:© 2018 IEEE.