Panoramic camera-based Visual-Inertial-Odometry(VIO)systems play a crucial role in robotic navigation,autonomous driving,and virtual reality applications,owing to their large Field-of-View and enhanced localization ca...Panoramic camera-based Visual-Inertial-Odometry(VIO)systems play a crucial role in robotic navigation,autonomous driving,and virtual reality applications,owing to their large Field-of-View and enhanced localization capabilities.However,the nonlinear distortions caused by the lack of geometric consistency in projection models for panoramic images pose signifcant challenges to feature extraction and tracking algorithms.In this paper,we present Geotri-VIO,a novel VIO system that addresses these challenges using a multi-prism projection model.By constructing the multiprism projection planes such that each face is tangent to the inherent projection sphere of the panoramic camera,the proposed model ensures strict geometric consistency in each projection plane while maintaining global geometric consistency,which is supported by mathematical proof.Additionally,we evaluate the impact of increasing the number of projection planes and demonstrate that triangular prism projection outperforms other multi-prism projection models.To validate its efectiveness,Geotri-VIO is tested on public datasets.Experimental results show that the triangular prism projection signifcantly improves the tracking accuracy of both point and line features,thereby enhancing the overall localization performance of the VIO system.展开更多
基金supported in part by the China National Key Research and Development Program under Grant 2022YFB3903804.
文摘Panoramic camera-based Visual-Inertial-Odometry(VIO)systems play a crucial role in robotic navigation,autonomous driving,and virtual reality applications,owing to their large Field-of-View and enhanced localization capabilities.However,the nonlinear distortions caused by the lack of geometric consistency in projection models for panoramic images pose signifcant challenges to feature extraction and tracking algorithms.In this paper,we present Geotri-VIO,a novel VIO system that addresses these challenges using a multi-prism projection model.By constructing the multiprism projection planes such that each face is tangent to the inherent projection sphere of the panoramic camera,the proposed model ensures strict geometric consistency in each projection plane while maintaining global geometric consistency,which is supported by mathematical proof.Additionally,we evaluate the impact of increasing the number of projection planes and demonstrate that triangular prism projection outperforms other multi-prism projection models.To validate its efectiveness,Geotri-VIO is tested on public datasets.Experimental results show that the triangular prism projection signifcantly improves the tracking accuracy of both point and line features,thereby enhancing the overall localization performance of the VIO system.
