Monocular Visual-Inertial State Estimation for Mobile Augmented Reality

contributions:

  • An improved tightly-coupled,optimization-based monocular visual-intertial state estimation framework with robust initialization,IMU bias calibration and loop closure
  • Real-time implementation of state estimator and AR demo on mobile devices
  • Open source release

system

system

chapter

  • 1 IMU Pre-integration
imu pre-integration
  • 2 LOOP DETECTION AND FEATURE RETRIEVAL

  • LOOP DETECTION


    LOOP DETECTION
  • FEATURE RETRIEVAL
    • 1 KLT tracker

    • 2 BoW Vector Matches


      feature retrieval
  • 3 ESTIMATOR INITIALIZATION
    for :metric scale (feature depth), gravity vector, body velocity, and gyroscope bias.
  • Vision-Only Structure from Motion

  • Visual-Inertial Alignment(視覺和慣導對齊)
    we first recover the gyroscope bias, then initialize velocity, gravity vector, and met- ric scale.


    visual-inertial alignment
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