Journal
ELECTRONICS
Volume 10, Issue 24, Pages -Publisher
MDPI
DOI: 10.3390/electronics10243063
Keywords
VI-SLAM; initialization; localization; optimization
Categories
Funding
- National Key Research and Development Program of China [2019YFB1504703]
- Joint Project of NFSC
- Guangdong Big Data Science Center [U1611262]
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The proposed method improves the positioning accuracy of the monocular VI-SLAM system through an improved initialization method, including pure vision measurement model, IMU pre-integration calibration, and an improved iterative method, leading to faster convergence speed and better positioning accuracy.
In the aim of improving the positioning accuracy of the monocular visual-inertial simultaneous localization and mapping (VI-SLAM) system, an improved initialization method with faster convergence is proposed. This approach is classified into three parts: Firstly, in the initial stage, the pure vision measurement model of ORB-SLAM is employed to make all the variables visible. Secondly, the frequency of the IMU and camera was aligned by IMU pre-integration technology. Thirdly, an improved iterative method is put forward for estimating the initial parameters of IMU faster. The estimation of IMU initial parameters is divided into several simpler sub-problems, containing direction refinement gravity estimation, gyroscope deviation estimation, accelerometer bias, and scale estimation. The experimental results on the self-built robot platform show that our method can up-regulate the initialization convergence speed, simultaneously improve the positioning accuracy of the entire VI-SLAM system.
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