Good Line Cutting: Towards Accurate Pose Tracking of Line-Assisted VO/VSLAM

Good Line Cutting: Towards Accurate Pose Tracking of Line-Assisted VO/VSLAM
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DOI：
10.1007/978-3-030-01216-8_32
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发表时间：
2018-09
期刊：
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影响因子：
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通讯作者：
Yipu Zhao;P. Vela
Yipu Zhao;P. Vela
中科院分区：
其他
文献类型：
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作者：
Yipu Zhao;P. Vela

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本文解决了线辅助VO/VSLAM中的一个问题：在不可靠的3D线输入下精确求解最小二乘位姿优化。我们提出的解决方案是良好的线切割，从每条3D线中提取信息量最大的子段，用于姿势优化公式。通过研究基于直线的最小二乘问题中直线切割对位姿估计信息增益的影响，证明了良好的直线切割对提高位姿估计精度的适用性。为此，我们描述了一个有效的算法，近似接近良好的线切割的联合优化问题。该算法被集成到一个国家的最先进的线辅助VSLAM系统。在线辅助VO/VSLAM、低纹理和运动模糊两种目标场景下进行评估，在保持鲁棒性的同时，提高了位姿跟踪的准确性。
This paper tackles a problem in line-assisted VO/VSLAM: accurately solving the least squares pose optimization with unreliable 3D line input. The solution we present is good line cutting, which extracts the most-informative sub-segment from each 3D line for use within the pose optimization formulation. By studying the impact of line cutting towards the information gain of pose estimation in line-based least squares problem, we demonstrate the applicability of improving pose estimation accuracy with good line cutting. To that end, we describe an efficient algorithm that approximately approaches the joint optimization problem of good line cutting. The proposed algorithm is integrated into a state-of-the-art line-assisted VSLAM system. When evaluated in two target scenarios of line-assisted VO/VSLAM, low-texture and motion blur, the accuracy of pose tracking is improved, while the robustness is preserved.