F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems
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 mecha...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10258295/ |
| _version_ | 1797668048710139904 |
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| author | Xiang-Shi Tang Teng-Hu Cheng |
| author_facet | Xiang-Shi Tang Teng-Hu Cheng |
| author_sort | Xiang-Shi Tang |
| collection | DOAJ |
| description | 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 by around 10 % in open data sequences. |
| first_indexed | 2024-03-11T20:22:25Z |
| format | Article |
| id | doaj.art-81df3285192a41d698548b379ff92986 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T20:22:25Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-81df3285192a41d698548b379ff929862023-10-02T23:00:59ZengIEEEIEEE Access2169-35362023-01-011110402810403710.1109/ACCESS.2023.331795210258295F-LVINS: Flexible Lidar-Visual-Inertial Odometry SystemsXiang-Shi Tang0Teng-Hu Cheng1https://orcid.org/0000-0002-1451-3937Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, TaiwanDepartment of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, TaiwanThe 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 by around 10 % in open data sequences.https://ieeexplore.ieee.org/document/10258295/Lidar-visual-inertial odometrysimultaneous localization and mappingestimation uncertaintymulti-sensors flexible fusion |
| spellingShingle | Xiang-Shi Tang Teng-Hu Cheng F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems IEEE Access Lidar-visual-inertial odometry simultaneous localization and mapping estimation uncertainty multi-sensors flexible fusion |
| title | F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems |
| title_full | F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems |
| title_fullStr | F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems |
| title_full_unstemmed | F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems |
| title_short | F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems |
| title_sort | f lvins flexible lidar visual inertial odometry systems |
| topic | Lidar-visual-inertial odometry simultaneous localization and mapping estimation uncertainty multi-sensors flexible fusion |
| url | https://ieeexplore.ieee.org/document/10258295/ |
| work_keys_str_mv | AT xiangshitang flvinsflexiblelidarvisualinertialodometrysystems AT tenghucheng flvinsflexiblelidarvisualinertialodometrysystems |