Open AccessF-LVINS:Flexible Lidar-Visual-Inertial Odometry Systems
Author(s) -
Xiang-Shi Tang,
Teng-Hu Cheng
Publication year - 2023
Publication title -
ieee access
Language(s) - English
Resource type - Journals
ISSN - 2169-3536
DOI - 10.1109/access.2023.3317952
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
The development of a new system called Flexible Lidar-Visual-Inertial Odometry (F-LVINS) offers improved localization accuracy even in challenging environments. This system employs a multi-sensor fusion approach that is flexible and adapts to changes in the environment by utilizing a switching mechanism based on the trace values of the Fisher information matrix (FIM). With this mechanism, the F-LVINS system can automatically switch between different modes, such as Lidar-Visual-Inertial Odometry, Lidar Odometry, and Visual-Inertial Odometry, in order to provide the best possible estimate. The system assesses the reliability of each mode based on the FIM’s trace values, which are calculated from the estimation uncertainty obtained from the Lidar and Visual-Inertial Odometry modules. Experimental evaluations demonstrate that the F-LVINS system outperforms other existing methods in open data sequences.