VersaVIS-An Open Versatile Multi-Camera Visual-Inertial Sensor Suite
VersaVIS-An Open Versatile Multi-Camera Visual-Inertial Sensor Suite
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DOI：
10.3390/s20051439
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发表时间：
2020-03-01
期刊：
影响因子：
3.9
通讯作者：
Nieto, Juan
中科院分区：
文献类型：
--
作者：
Tschopp, Florian;Riner, Michael;Nieto, Juan
在移动的机器人技术中，鲁棒且精确的位姿估计对于许多应用是至关重要的。使用惯性测量单元（IMU）等其他方式扩展视觉同时定位和地图绘制（SLAM）可以提高鲁棒性和准确性。然而，对于紧密的传感器融合，传感器的精确时间同步通常是至关重要的。改变曝光时间、内部传感器过滤、多个时钟源以及操作系统调度和数据传输的不可预测延迟都可能使传感器同步具有挑战性。在本文中，我们提出了VersaVIS，一个开放的多功能多相机视觉惯性传感器套件，旨在成为一个高效的研究平台，易于部署，集成和扩展许多移动的机器人应用。VersaVIS提供完整的开源硬件、固件和软件包，通过具有曝光补偿、主机时钟转换以及独立和立体相机触发功能的IMU执行多台相机的时间同步。该传感器套件支持各种摄像头和伊穆斯，以满足应用要求。该框架的同步精度进行评估，实现定时精度小于1毫秒的多个实验。此外，在多个应用程序，包括视觉惯性SLAM，多相机应用，多模态映射，重建和基于对象的映射的传感器套件的适用性和多功能性证明。
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and accuracy. However, for a tight sensor fusion, accurate time synchronization of the sensors is often crucial. Changing exposure times, internal sensor filtering, multiple clock sources and unpredictable delays from operation system scheduling and data transfer can make sensor synchronization challenging. In this paper, we present VersaVIS, an Open Versatile Multi-Camera Visual-Inertial Sensor Suite aimed to be an efficient research platform for easy deployment, integration and extension for many mobile robotic applications. VersaVIS provides a complete, open-source hardware, firmware and software bundle to perform time synchronization of multiple cameras with an IMU featuring exposure compensation, host clock translation and independent and stereo camera triggering. The sensor suite supports a wide range of cameras and IMUs to match the requirements of the application. The synchronization accuracy of the framework is evaluated on multiple experiments achieving timing accuracy of less than 1 ms. Furthermore, the applicability and versatility of the sensor suite is demonstrated in multiple applications including visual-inertial SLAM, multi-camera applications, multi-modal mapping, reconstruction and object based mapping.