编译Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

最新推荐文章于 2024-06-18 09:35:04 发布
最新推荐文章于 2024-06-18 09:35:04 发布
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本文链接：https://blog.csdn.net/qq_39633962/article/details/83660765
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宾夕法尼亚大学kumar实验室2018年发布《Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight 》，基于MSCKF基础上实现双目视觉惯导里程计。刚好这篇很新颖，又是双目，我这个方向深入了解进去才知道真JB难啊，自己写程序简直就是异想天开，我就想那来跑跑看老外写的这些高深莫测的开源到底能不能跑，这也决定了我毕设能不能po出来成果图啊。

 

于是乎我又踏上了配置环境的漫漫长路，这学期为了opencv这个小婊子真是没少费我的时间。这次整整三天时间，全都用来为编译这个文件准备环境，不攻克这个难关就仿佛一口淤血卡在我的肺部。接下来便是修行之路了，特别在此感谢苗哥一路为我找错误，最后还贡献出了自己的主机

先不说后面的，我第一个大错特错就是我没有和作者用同样的系统，

The software is tested on Ubuntu 16.04 with ROS Kinetic.

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编译Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight记录帖子
Amazingren的博客
09-04 1307
前言 看到泡泡机器人今天推送的一篇文章： Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight 泡泡机器人推送链接：http://www.sohu.com/a/251757206_715754 自己还蛮感兴趣的，想要动手编译跑一下，不会写代码，好歹要会跑一些东西啊哈哈哈啊 github链接：https://gi...
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Visual and Visual-Inertial SLAM: State of the Art, Classification,and Experimental 视觉/视觉惯性SLAM最新综述：领域进展、方法分类与实验对比
计算机视觉方向简介 | 视觉惯性里程计(VIO)
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VIO-SLAMVisual-Inertial Odometry（VIO）即视觉惯性里程计，有时也叫视觉惯性系统（VINS，visual-inertial system），是融合相机和IM...
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探索未来导航：Ensemble Visual-Inertial Odometry (EnVIO)——精准定位新时代 项目地址:https://gitcode.com/lastflowers/envio 在自动驾驶与机器人技术的浪潮中，精准的定位能力无疑是核心所在。今天，我们隆重介绍一款开源宝藏——Ensemble Visual-Inertial Odometry（EnVIO），一个由Jaehyun...
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Abstract— Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases. In this paper we build...
Fast_and_Robust_Monocular_Visua-Inertial_Odometry_.pdf
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该算法在EuRoC公共数据集上的实验结果表明，相较于Open Keyframe-based Visual-Inertial SLAM（OKVIS-mono）算法和Oriented FAST and Rotated BRIEF-SLAM（ORB-SLAM）算法，其表现更优，验证了算法的准确性和速度。...
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Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization.pdf
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Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that non-linear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual-inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochasic cloning sliding-window filter. This competititve reference implementation performs tightly-coupled filtering-based visual-inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy.
High-Precision, Consistent EKF-based Visual-Inertial Odometry.pdf
02-06
In this paper, we focus on the problem of motion tracking in unknown environments using visual and inertial sensors.We term this estimation task visual-inertial odometry (VIO), in analogy to the well-known visual-odometry problem. We present a detailed study of EKF-based VIO algorithms, by comparing both their theoretical properties and empirical performance. We show that an EKF formulation where the state vector comprises a sliding window of poses (the MSCKF algorithm) attains better accuracy, consistency, and computational efficiency than the SLAM formulation of the EKF, in which the state vector contains the current pose and the features seen by the camera. Moreover, we prove that both types of EKF approaches are inconsistent, due to the way in which Jacobians are computed. Specifically, we show that the observability properties of the EKF’s linearized system models do not match those of the underlying system, which causes the filters to underestimate the uncertainty in the state estimates. Based on our analysis, we propose a novel, real-time EKF-based VIO algorithm, which achieves consistent estimation by (i) ensuring the correct observability properties of its linearized system model, and (ii) performing online estimation of the camera-to-IMU calibration parameters. This algorithm, which we term MSCKF 2.0, is shown to achieve accuracy and consistency higher than even an iterative, sliding-window fixed-lag smoother, in both Monte-Carlo simulations and real-world testing. I
SLAM-基于硬件加速的NVIDIA-Elbrus的Visual-odometry库.zip
03-15
在本资料包中，我们重点关注的是NVIDIA-Elbrus平台上利用硬件加速实现的视觉里程计（Visual Odometry，VO）库。 视觉里程计是一种通过分析连续的图像序列来估计机器人运动的技术，它能够实时地计算出相机相对于起始...
视觉惯性里程计 综述 VIO Visual Inertial Odometry msckf ROVIO ssf msf okvis ORB-VINS VINS-Mono gtsam
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