Journal
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Volume -, Issue -, Pages 1105-1112Publisher
IEEE
DOI: 10.1109/icra40945.2020.9197003
Keywords
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Funding
- National Science Foundation [1816138]
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1816138] Funding Source: National Science Foundation
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Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of SLAM systems. In this paper, we raise the question on the importance of visual estimation latency in closed-loop navigation tasks, such as accurate trajectory tracking. To understand the impact of both drift and latency on visual-inertial SLAM systems, a closed-loop benchmarking simulation is conducted, where a robot is commanded to follow a desired trajectory using the feedback from visual-inertial estimation. By extensively evaluating the trajectory tracking performance of representative state-of-the-art visual-inertial SLAM systems, we reveal the importance of latency reduction in visual estimation module of these systems. The findings suggest directions of future improvements for visual-inertial SLAM.
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