剛体結合と時刻同期を不要にしたLiDAR-慣性-視覚オドメトリ
FREE-LIVO: Physically Decoupled Yet Tightly Coupled LiDAR-Inertial-Visual Odometry
LiDARとカメラの固定配置や時刻同期を前提とせず、生成モデルでLiDAR強度画像を作り画像特徴マッチングで対応点を得ることで、別時刻・別センサの姿勢を単一因子グラフで同時最適化する手法を提案した。
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著者: Reon Tabata, Kenji Koide, Shuji Oishi, Taku Okawara, Mizuho Aoki, Aoki Takanose, Masashi Yokozuka, Jun Miura
分類: cs.RO, cs.CV
原文アブストラクト
LiDAR-Inertial-Visual Odometry (LIVO) integrates complementary LiDAR, camera, and IMU measurements to achieve robust state estimation. However, most existing methods assume a fixed relative pose and accurate time synchronization between sensors. Toward modular and heterogeneous robotic systems, this paper presents FREE-LIVO, a tightly coupled odometry method that requires neither a rigid LiDAR-camera rig nor LiDAR-camera time synchronization. The proposed method uses a pretrained image feature matcher to establish correspondences between a camera image and a dense LiDAR intensity image generated from a single LiDAR scan using a generative model. From the resulting 3D point-to-pixel correspondences, we construct reprojection factors that directly constrain LiDAR and camera poses at different acquisition times. These factors are jointly optimized in a single factor graph together with constraints from point cloud registration, visual feature tracking, and the IMU measurements associated with each sensor. On six sequences from the public M3DGR dataset, FREE-LIVO achieves an average absolute trajectory error (ATE) RMSE of 0.45 m without provided LiDAR-camera extrinsic parameters and exhibits minimal accuracy degradation under time synchronization errors of up to 0.5 s. Furthermore, experiments with the LiDAR and camera mounted on separate robots demonstrate that the method can jointly estimate the trajectories of independently moving sensors.
関連論文
- LiDAR・視覚・慣性を統合したマルチモーダルランドマーク追跡による密結合オドメトリLiDAR-視覚-慣性オドメトリ