Incremental visual-inertial 3d mesh generation with structural regularities
Paper in proceedings, 2019

Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers a richer, yet lightweight, model. Nevertheless, building a 3D mesh out of the sparse and noisy 3D landmarks triangulated by a VIO algorithm often results in a mesh that does not fit the real scene. In order to regularize the mesh, previous approaches decouple state estimation from the 3D mesh regularization step, and either limit the 3D mesh to the current frame [1], [2] or let the mesh grow indefinitely [3], [4]. We propose instead to tightly couple mesh regularization and state estimation by detecting and enforcing structural regularities in a novel factor-graph formulation. We also propose to incrementally build the mesh by restricting its extent to the time-horizon of the VIO optimization; the resulting 3D mesh covers a larger portion of the scene than a per-frame approach while its memory usage and computational complexity remain bounded. We show that our approach successfully regularizes the mesh, while improving localization accuracy, when structural regularities are present, and remains operational in scenes without regularities.

robotics

Vision-based navigation

cameras

Sensor fusion

SLAM

Author

Antoni Rosinol

Massachusetts Institute of Technology (MIT)

Torsten Sattler

Chalmers, Electrical Engineering, Signalbehandling och medicinsk teknik, Imaging and Image Analysis

Marc Pollefeys

Swiss Federal Institute of Technology in Zürich (ETH)

Luca Carlone

Massachusetts Institute of Technology (MIT)

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

Vol. 2019-May 8220-8226 8794456

2019 International Conference on Robotics and Automation, ICRA 2019
Montreal, Canada,

Subject Categories

Computational Mathematics

Computer Science

Computer Vision and Robotics (Autonomous Systems)

DOI

10.1109/ICRA.2019.8794456

More information

Latest update

1/24/2020