An Improved Initialization Method for Monocular Visual-Inertial SLAM

被引:10
作者
Cheng, Jun [1 ]
Zhang, Liyan [1 ]
Chen, Qihong [1 ]
机构
[1] Wuhan Univ Technol, Sch Automat, Wuhan 430070, Peoples R China
关键词
VI-SLAM; initialization; localization; optimization; NAVIGATION; VERSATILE;
D O I
10.3390/electronics10243063
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In the aim of improving the positioning accuracy of the monocular visual-inertial simultaneous localization and mapping (VI-SLAM) system, an improved initialization method with faster convergence is proposed. This approach is classified into three parts: Firstly, in the initial stage, the pure vision measurement model of ORB-SLAM is employed to make all the variables visible. Secondly, the frequency of the IMU and camera was aligned by IMU pre-integration technology. Thirdly, an improved iterative method is put forward for estimating the initial parameters of IMU faster. The estimation of IMU initial parameters is divided into several simpler sub-problems, containing direction refinement gravity estimation, gyroscope deviation estimation, accelerometer bias, and scale estimation. The experimental results on the self-built robot platform show that our method can up-regulate the initialization convergence speed, simultaneously improve the positioning accuracy of the entire VI-SLAM system.
引用
收藏
页数:15
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