TY - GEN
T1 - HybVIO
T2 - IEEE/CVF Winter Conference on Applications of Computer Vision
AU - Seiskari, Otto
AU - Rantalankila, Pekka
AU - Kannala, Juho
AU - Ylilammi, Jerry
AU - Rahtu, Esa
AU - Solin, Arno
N1 - Publisher Copyright:
© 2022 IEEE.
jufoid=57596
PY - 2022
Y1 - 2022
N2 - We present HybVIO, a novel hybrid approach for combining filtering-based visual-inertial odometry (VIO) with optimization-based SLAM. The core of our method is highly robust, independent VIO with improved IMU bias modeling, outlier rejection, stationarity detection, and feature track selection, which is adjustable to run on embedded hardware. Long-term consistency is achieved with a loosely-coupled SLAM module. In academic benchmarks, our solution yields excellent performance in all categories, especially in the real-time use case, where we outperform the current state-of-the-art. We also demonstrate the feasibility of VIO for vehicular tracking on consumer-grade hardware using a custom dataset, and show good performance in comparison to current commercial VISLAM alternatives.
AB - We present HybVIO, a novel hybrid approach for combining filtering-based visual-inertial odometry (VIO) with optimization-based SLAM. The core of our method is highly robust, independent VIO with improved IMU bias modeling, outlier rejection, stationarity detection, and feature track selection, which is adjustable to run on embedded hardware. Long-term consistency is achieved with a loosely-coupled SLAM module. In academic benchmarks, our solution yields excellent performance in all categories, especially in the real-time use case, where we outperform the current state-of-the-art. We also demonstrate the feasibility of VIO for vehicular tracking on consumer-grade hardware using a custom dataset, and show good performance in comparison to current commercial VISLAM alternatives.
KW - 3D Computer Vision Stereo Processing
KW - Vision for Aerial/Drone/Underwater/Ground Vehicles
U2 - 10.1109/WACV51458.2022.00036
DO - 10.1109/WACV51458.2022.00036
M3 - Conference contribution
AN - SCOPUS:85124754010
T3 - IEEE Winter Conference on Applications of Computer Vision
SP - 287
EP - 296
BT - Proceedings - 2022 IEEE/CVF Winter Conference on Applications of Computer Vision, WACV 2022
PB - IEEE
Y2 - 4 January 2022 through 8 January 2022
ER -