Visual–Inertial Odometry of Structured and Unstructured Lines Based on Vanishing Points in Indoor Environments

Author:

He Xiaojing1ORCID,Li Baoquan1,Qiu Shulei1,Liu Kexin2

Affiliation:

1. Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, School of Control Science and Engineering, Tiangong University, Tianjin 300387, China

2. Institute for Higher Education, Jilin University, Changchun 130012, China

Abstract

In conventional point-line visual–inertial odometry systems in indoor environments, consideration of spatial position recovery and line feature classification can improve localization accuracy. In this paper, a monocular visual–inertial odometry based on structured and unstructured line features of vanishing points is proposed. First, the degeneracy phenomenon caused by a special geometric relationship between epipoles and line features is analyzed in the process of triangulation, and a degeneracy detection strategy is designed to determine the location of the epipoles. Then, considering that the vanishing point and the epipole coincide at infinity, the vanishing point feature is introduced to solve the degeneracy and direction vector optimization problem of line features. Finally, threshold constraints are used to categorize straight lines into structural and non-structural features under the Manhattan world assumption, and the vanishing point measurement model is added to the sliding window for joint optimization. Comparative tests on the EuRoC and TUM-VI public datasets validated the effectiveness of the proposed method.

Funder

Baoquan Li

Publisher

MDPI AG

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