Open AccessA Vision-Inertial Odometer Design Based on ORB and Sliding Window
Author(s) -
Qinghe Liu,
Xue Zhang,
Yankun Zhang,
Guqi Zhao
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1972/1/012031
Subject(s) - odometer , orb (optics) , inertial measurement unit , computer vision , artificial intelligence , computer science , sliding window protocol , monocular vision , monocular , inertial navigation system , global positioning system , window (computing) , inertial frame of reference , image (mathematics) , operating system , telecommunications , physics , quantum mechanics
In order to improve the positioning accuracy and system reliability of the visual odometer in outdoor environment, this paper proposes an unmanned vehicle positioning system using monocular camera and Inertial measurement unit (IMU). The system uses improved ORB algorithm to extract image feature points and establishes a tightly coupled visual-inertial odometer system based on sliding window and nonlinear optimization. Verified by experiment, it can adapt to the environment of changing light, and can complete the positioning task of unmanned vehicles in the outdoor environment.