StructVIO: Visual-Inertial Odometry With Structural Regularity of Man-Made Environments

Consistency of EKF-Based Visual-Inertial Odometry

In this report, we perform a rigorous analysis of EKF-based visual-inertial odometry (VIO) and present a method for improving its performance. Specifically, we examine the properties of EKF-based VIO, and show that the standard way of computing Jacobians in the filter inevitably causes inconsistency and loss of accuracy. This result is derived based on an observability analysis of the EKF’s lin...

Visual Odometry in Smoke Occluded Environments

Visual odometry is an important sensor modality for robot control and navigation in environments when no external reference system, e.g. GPS, is available. Especially micro aerial vehicles operating in cluttered indoor environments need pose updates at high rates for position control. At the same time they are only capable to carry sensors and processors with limited weight and power consumptio...

Monocular Visual Odometry in Urban Environments

We present a system for Monocular Simultaneous Localization and Mapping (Mono-SLAM) relying solely on video input. Our algorithm makes it possible to precisely estimate the camera trajectory without relying on any motion model. The estimation is fully incremental: at a given time frame, only the current location is estimated while the previous camera positions are never modified. In particular,...

Visual Odometry and Mapping in Natural Environments

Visual-Inertial Combined Odometry System for Aerial Vehicles

The requirement to operate aircraft in GPS-denied environments can be met by using visual odometry. Aiming at a full-scale aircraft equipped with a high-accuracy inertial navigation system (INS), the proposed method combines vision and the INS for odometry estimation. With such an INS, the aircraft orientation is accurate with low drift, but it contains high-frequency noise that can affect the ...