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REVIO: Range- and Event-Based Visual-Inertial Odometry for Bio-Inspired Sensors

Authors :
Yingxun Wang
Bo Shao
Chongchong Zhang
Jiang Zhao
Zhihao Cai
Source :
Biomimetics, Vol 7, Iss 4, p 169 (2022)
Publication Year :
2022
Publisher :
MDPI AG, 2022.

Abstract

Visual-inertial odometry is critical for Unmanned Aerial Vehicles (UAVs) and robotics. However, there are problems of motion drift and motion blur in sharp brightness changes and fast-motion scenes. It may cause the degradation of image quality, which leads to poor location. Event cameras are bio-inspired vision sensors that offer significant advantages in high-dynamic scenes. Leveraging this property, this paper presents a new range and event-based visual-inertial odometry (REVIO). Firstly, we propose an event-based visual-inertial odometry (EVIO) using sliding window nonlinear optimization. Secondly, REVIO is developed on the basis of EVIO, which fuses events and distances to obtain clear event images and improves the accuracy of position estimation by constructing additional range constraints. Finally, the EVIO and REVIO are tested in three experiments—dataset, handheld and flight—to evaluate the localization performance. The error of REVIO can be reduced by nearly 29% compared with EVIO in the handheld experiment and almost 28% compared with VINS-Mono in the flight experiment, which demonstrates the higher accuracy of REVIO in some fast-motion and high-dynamic scenes.

Details

Language :
English
ISSN :
23137673
Volume :
7
Issue :
4
Database :
Directory of Open Access Journals
Journal :
Biomimetics
Publication Type :
Academic Journal
Accession number :
edsdoj.19bcd9a080114fafa485021743fbffa3
Document Type :
article
Full Text :
https://doi.org/10.3390/biomimetics7040169