[en] Visual odometry (VO) is typically considered as a chicken-and-egg problem, as
the localization and mapping modules are tightly-coupled. The estimation of a
visual map relies on accurate localization information. Meanwhile, localization
requires precise map points to provide motion constraints. This classical
design principle is naturally inherited by visual-inertial odometry (VIO).
Efficient localization solutions that do not require a map have not been fully
investigated. To this end, we propose a novel structureless VIO, where the
visual map is removed from the odometry framework. Experimental results
demonstrated that, compared to the structure-based VIO baseline, our
structureless VIO not only substantially improves computational efficiency but
also has advantages in accuracy.
Disciplines :
Computer science
Author, co-author :
SONG, Junlin ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
