Visual-inertial structure from motion: Observability and resolvability
Visual-inertial structure from motion: Observability and resolvability
复制标题
运动的视觉惯性结构：可观察性和可分辨性
DOI：
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发表时间：
2013
期刊：
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通讯作者：
Agostino Martinelli
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文献类型：
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作者：
Agostino Martinelli
本文提供了两个新的贡献。前者考虑运动对视觉惯性结构的可观测性。事实证明，单目摄像机和惯性测量单元(IMU)提供的数据中包含的信息可以估计绝对比例尺、局部坐标系中的速度、绝对滚转角和俯仰角、影响加速度计和陀螺仪测量的偏差、重力加速度的大小和外部相机-IMU标定。后一种贡献是推导出一种新的封闭形式的解，通过仅使用在短时间间隔期间收集的少量相机测量和由IMU在同一时间间隔内提供的数据来确定一些先前可观测的量。这个封闭的解使我们能够从运动中研究视觉惯性结构的内在属性，特别是确定问题有有限数目解的条件。具体地说，该问题可以有唯一解、两个不同解和无穷多解，这些解取决于轨迹、点特征的数目、点特征的布局和摄像机图像的数目。最后将所提出的闭合解与基于过滤器的方法结合使用，以显示其优点。
This paper provides two novel contributions. The former regards the observability of the visual-inertial structure from motion. It is proven that, the information contained in the data provided by a monocular camera which observes a single point-feature and by an Inertial Measurement Unit (IMU) allows estimating the absolute scale, the speed in the local frame, the absolute roll and pitch angles, the biases which affect the accelerometer's and the gyroscope's measurements, the magnitude of the gravitational acceleration and the extrinsic camera-IMU calibration. The latter contribution is the derivation of a new closed form solution to determine some of the previous observable quantities by only using few camera measurements collected during a short time interval and the data provided by the IMU during the same time interval. This closed-solution allows us to investigate the intrinsic properties of the visual-inertial structure from motion and in particular to identify the conditions under which the problem has a finite number of solutions. Specifically, it is shown that the problem can have a unique solution, two distinct solutions and infinite solutions depending on the trajectory, on the number of point-features and on their layout and on the number of camera images. The proposed closed solution is finally used in conjunction with a filter based approach in order to show its benefit.