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Stereo visual odometry with velocity constraint for ground vehicle applications
The Journal of Navigation ( IF 2.4 ) Pub Date : 2021-03-30 , DOI: 10.1017/s037346332100028x
Fei Liu , Yashar Balazadegan Sarvrood , Yue Liu , Yang Gao

This paper proposes a novel method of error mitigation for stereo visual odometry (VO) applied in land vehicles. A non-holonomic constraint (NHC), which imposes physical constraint to the rightward velocity of a land vehicle, is implemented as an observation in an extended Kalman filter (EKF) to reduce the drift of stereo VO. The EKF state vector includes position errors in an Earth-centred, Earth-fixed (ECEF) frame, velocity errors in the camera frame, angular rate errors and attitude errors. All the related equations are described and presented in detail. In this approach, no additional sensors are used but NHC, namely velocity constraint in the right direction , is applied as an external measurement to improve the accuracy. Tests are conducted with the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) datasets. Results show that the relative horizontal positioning error improved from 0⋅63% to 0⋅22% on average with the application of the velocity constraints. The maximum and root mean square of the horizontal error with velocity constraints are both reduced to less than half of the error with stand-alone stereo VO.

中文翻译:

用于地面车辆应用的具有速度约束的立体视觉里程计

本文提出了一种用于陆地车辆的立体视觉里程计(VO)的误差缓解新方法。对陆地车辆的向右速度施加物理约束的非完整约束 (NHC) 被实施为扩展卡尔曼滤波器 (EKF) 中的观察,以减少立体 VO 的漂移。EKF 状态向量包括以地球为中心、地球固定 (ECEF) 框架中的位置误差、相机框架中的速度误差、角速率误差和姿态误差。所有相关的方程都进行了详细描述和介绍。在这种方法中,没有使用额外的传感器,而是将 NHC(即正确方向上的速度约束)用作外部测量以提高精度。使用卡尔斯鲁厄理工学院和丰田技术学院 (KITTI) 数据集进行测试。结果表明,应用速度约束后,相对水平定位误差平均从 0⋅63% 提高到 0⋅22%。具有速度约束的水平误差的最大值和均方根均减少到小于独立立体声 VO 误差的一半。
更新日期:2021-03-30
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