论文标题
里程表辅助视觉惯性大满贯的双向轨迹计算
Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM
论文作者
论文摘要
里程表辅助的视觉惯性大满贯系统通常具有良好的轮式平台导航性能，而它们通常在第一次转弯之前会遭受退化案例。在本文中，首先我们执行可观察性分析W.R.T.第一次转弯之前的外部参数，这是可观察性分析的现有结果的补充。其次，受到上述可观察性分析的启发，我们提出了一种双向轨迹计算方法，通过该方法，在向后计算线中对第一个转弯之前的姿势进行了完善，并相应地调整了实时轨迹。实验结果证明，我们提出的方法不仅解决了第一次转弯之前加速度计偏置和外部参数的不可观念性问题，而且还导致与最先进的方法相比，导致更准确的轨迹。
Odometer-aided visual-inertial SLAM systems typically have a good performance for navigation of wheeled platforms, while they usually suffer from degenerate cases before the first turning. In this paper, firstly we perform an observability analysis w.r.t. the extrinsic parameters before the first turning, which is a complement of the existing results of observability analyses. Secondly, inspired by the above observability analyses, we propose a bidirectional trajectory computation method, by which the poses before the first turning are refined in the backward computation thread, and the real-time trajectory is adjusted accordingly. Experimental results prove that our proposed method not only solves the problem of the unobservability of accelerometer bias and extrinsic parameters before the first turning, but also results in more accurate trajectories in comparison with the state-of-the-art approaches.
