紧耦合的移动端实时位姿优化方法

位姿估计一直是三维重建领域的关键性问题.为保证移动端有限计算资源下的实时性并提高轨迹计算的准确性,提出一种紧耦合的移动端实时位姿优化方法.首先,获取图像信息与运动传感器信息进行特征提取、预积分等预处理;然后根据对极几何约束,计算重投影误差与惯性传感器误差;最后采用加权误差联合优化计算位姿轨迹.紧耦合策略可以有效利用图像...

Tightly-coupled Real-time Pose Optimization Method for Mobile Terminal

Pose estimation has always been a key issue in the field of 3D reconstruction. A tightly coupled real-time pose optimization method for the mobile terminal is proposed to ensure the real-time performance under the limited resources of the mobile terminal and improve the accuracy of trajectory calculation. First, image information and motion sensor information are obtained to conduct pretreatments such as feature extraction and pre-integration. Then, the reprojection error and the inertial sensor error are calculated according to the epipolar geometric constraints. Finally, the weighted error is used to jointly optimize the calculation of the pose trajectory. The tight coupling strategy can efficiently use the consistency in the pose constraint of image information and inertial motion information. Experiments on the public data set EuRoC show that compared with the existing visual-inertial pose estimation methods, the proposed method guarantees the real-time performance on the mobile terminal and has a smaller camera trajectory error in reconstruction.