编译Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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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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

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