Continuous-Time Visual-Inertial Odometry for Event Cameras
نویسندگان
چکیده
منابع مشابه
Continuous-Time Visual-Inertial Trajectory Estimation with Event Cameras
In contrast to traditional cameras, which output images at a fixed rate, event cameras have independent pixels that output asynchronous pixel-level brightness changes with microsecond resolution. In this paper, we leverage a continuoustime framework to perform trajectory estimation by fusing visual data from a moving event camera with inertial data from an IMU. This framework allows direct inte...
متن کاملReal-time Visual-Inertial Odometry for Event Cameras using Keyframe-based Nonlinear Optimization
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a latency in the order of microseconds. We propose a novel, accurate tightly-coupled visual-inertial odometry pipeline for such cameras that leverages their ou...
متن کاملREBECQ, HORSTSCHAEFER, SCARAMUZZA: EVENT-BASED VISUAL-INERTIAL ODOMETRY1 Real-time Visual-Inertial Odometry for Event Cameras using Keyframe-based Nonlinear Optimization
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a latency in the order of microseconds. We propose a novel, accurate tightly-coupled visual-inertial odometry pipeline for such cameras that leverages their ou...
متن کاملSpline Fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras
In this paper, we describe a method for performing SLAM and visualinertial calibration robustly using inexpensive sensors such as rolling shutter CMOS cameras and MEMS IMUs. We make use of a continuous-time model for the trajectory of the camera that naturally allows us to fuse information from many unsynchronized and potentially high-rate sensors whilst limiting state size. We model the rollin...
متن کاملConsistency of EKF-Based Visual-Inertial Odometry
In this report, we perform a rigorous analysis of EKF-based visual-inertial odometry (VIO) and present a method for improving its performance. Specifically, we examine the properties of EKF-based VIO, and show that the standard way of computing Jacobians in the filter inevitably causes inconsistency and loss of accuracy. This result is derived based on an observability analysis of the EKF’s lin...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2018
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2018.2858287