An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments

The visual-inertial simultaneous localization and mapping (SLAM) is a feasible indoor positioning system that combines the visual SLAM with inertial navigation. There are accumulated drift errors in inertial navigation due to the state propagation and the bias of the inertial measurement unit (IMU)...

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Autores principales:	Wennan Chai, Chao Li, Mingyue Zhang, Zhen Sun, Hao Yuan, Fanyu Lin, Qingdang Li
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	simultaneous localization and mapping inertial navigation system vanishing point local optimization global optimization pedestrian dead reckoning Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/2db2b61448464bec88a7eafb5b5896fc
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id	oai:doaj.org-article:2db2b61448464bec88a7eafb5b5896fc
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spelling	oai:doaj.org-article:2db2b61448464bec88a7eafb5b5896fc2021-11-25T18:56:20ZAn Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments10.3390/s212274281424-8220https://doaj.org/article/2db2b61448464bec88a7eafb5b5896fc2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7428https://doaj.org/toc/1424-8220The visual-inertial simultaneous localization and mapping (SLAM) is a feasible indoor positioning system that combines the visual SLAM with inertial navigation. There are accumulated drift errors in inertial navigation due to the state propagation and the bias of the inertial measurement unit (IMU) sensor. The visual-inertial SLAM can correct the drift errors via loop detection and local pose optimization. However, if the trajectory is not a closed loop, the drift error might not be significantly reduced. This paper presents a novel pedestrian dead reckoning (PDR)-aided visual-inertial SLAM, taking advantage of the enhanced vanishing point (VP) observation. The VP is integrated into the visual-inertial SLAM as an external observation without drift error to correct the system drift error. Additionally, the estimated trajectory’s scale is affected by the IMU measurement errors in visual-inertial SLAM. Pedestrian dead reckoning (PDR) velocity is employed to constrain the double integration result of acceleration measurement from the IMU. Furthermore, to enhance the proposed system’s robustness and the positioning accuracy, the local optimization based on the sliding window and the global optimization based on the segmentation window are proposed. A series of experiments are conducted using the public ADVIO dataset and a self-collected dataset to compare the proposed system with the visual-inertial SLAM. Finally, the results demonstrate that the proposed optimization method can effectively correct the accumulated drift error in the proposed visual-inertial SLAM system.Wennan ChaiChao LiMingyue ZhangZhen SunHao YuanFanyu LinQingdang LiMDPI AGarticlesimultaneous localization and mappinginertial navigation systemvanishing pointlocal optimizationglobal optimizationpedestrian dead reckoningChemical technologyTP1-1185ENSensors, Vol 21, Iss 7428, p 7428 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	simultaneous localization and mapping inertial navigation system vanishing point local optimization global optimization pedestrian dead reckoning Chemical technology TP1-1185
spellingShingle	simultaneous localization and mapping inertial navigation system vanishing point local optimization global optimization pedestrian dead reckoning Chemical technology TP1-1185 Wennan Chai Chao Li Mingyue Zhang Zhen Sun Hao Yuan Fanyu Lin Qingdang Li An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments
description	The visual-inertial simultaneous localization and mapping (SLAM) is a feasible indoor positioning system that combines the visual SLAM with inertial navigation. There are accumulated drift errors in inertial navigation due to the state propagation and the bias of the inertial measurement unit (IMU) sensor. The visual-inertial SLAM can correct the drift errors via loop detection and local pose optimization. However, if the trajectory is not a closed loop, the drift error might not be significantly reduced. This paper presents a novel pedestrian dead reckoning (PDR)-aided visual-inertial SLAM, taking advantage of the enhanced vanishing point (VP) observation. The VP is integrated into the visual-inertial SLAM as an external observation without drift error to correct the system drift error. Additionally, the estimated trajectory’s scale is affected by the IMU measurement errors in visual-inertial SLAM. Pedestrian dead reckoning (PDR) velocity is employed to constrain the double integration result of acceleration measurement from the IMU. Furthermore, to enhance the proposed system’s robustness and the positioning accuracy, the local optimization based on the sliding window and the global optimization based on the segmentation window are proposed. A series of experiments are conducted using the public ADVIO dataset and a self-collected dataset to compare the proposed system with the visual-inertial SLAM. Finally, the results demonstrate that the proposed optimization method can effectively correct the accumulated drift error in the proposed visual-inertial SLAM system.
format	article
author	Wennan Chai Chao Li Mingyue Zhang Zhen Sun Hao Yuan Fanyu Lin Qingdang Li
author_facet	Wennan Chai Chao Li Mingyue Zhang Zhen Sun Hao Yuan Fanyu Lin Qingdang Li
author_sort	Wennan Chai
title	An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments
title_short	An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments
title_full	An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments
title_fullStr	An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments
title_full_unstemmed	An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments
title_sort	enhanced pedestrian visual-inertial slam system aided with vanishing point in indoor environments
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/2db2b61448464bec88a7eafb5b5896fc
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An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments

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