Name
Title | ||
|---|---|---|
Visual-Inertial State Estimation with Pre-integration Correction for Robust Mobile Augmented Reality |
Abstract | ||
|---|---|---|
Mobile devices equipped with a monocular camera and an inertial measurement unit (IMU) are ideal platforms for augmented reality (AR) applications. However, nontrivial noises in low-cost IMUs, which are usually equipped in consumer-level mobile devices, could lead to large errors in pose estimation and in turn significantly degrade the user experience in mobile AR apps. In this study, we propose a novel monocular visual-inertial state estimation approach for robust and accurate pose estimation even for low-cost IMUs. The core of our method is an IMU pre-integration correction approach which effectively reduces the negative impact of IMU noises using the visual constraints in a sliding window and the kinematic constraint. We seamlessly integrate the IMU pre-integration correction module into a tightly-coupled,sliding-window based optimization framework for state estimation. Experimental results on public dataset EUROC demonstrate the superiority of our method to the state-of-the-art VINS-Mono in terms of smaller absolute trajectory errors (ATE) and relative pose errors (RPE). We further apply our method to real AR applications on two types of consumer-level mobile devices equipped with low-cost IMUs, i.e. an off-the-shelf smartphone and an AR glass. Experimental results demonstrate that our method can facilitate robust AR with little drifts on the two devices.
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Year | DOI | Venue |
|---|---|---|
2019 | 10.1145/3343031.3351079 | Proceedings of the 27th ACM International Conference on Multimedia |
Keywords | Field | DocType |
graph optimization, mobile augmented reality, pre-integration, visual-inertial state estimation | Inertial frame of reference,Computer vision,Computer science,Augmented reality,Artificial intelligence | Conference |
ISBN | Citations | PageRank |
978-1-4503-6889-6 | 0 | 0.34 |
References | Authors | |
0 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zikang Yuan | 1 | 2 | 1.04 |
| Dongfu Zhu | 2 | 0 | 0.34 |
| Chi Cheng | 3 | 28 | 8.56 |
| Jinhui Tang | 4 | 5180 | 212.18 |
| Chunyuan Liao | 5 | 62 | 5.15 |
| Xin Yang | 6 | 228 | 25.10 |