论文标题
基于前馈反馈环的立体视觉惯性姿势估计
Stereo Visual Inertial Pose Estimation Based on Feedforward-Feedback Loops
论文作者
论文摘要
在本文中，我们提出了一种新颖的立体视觉惯性姿势估计方法。与广泛使用的基于过滤器或基于优化的方法相比，姿势估计过程被建模为控制系统。引入了设计的反馈或前馈回路，以实现对系统的稳定控制，其中包括梯度减少反馈回路，滚动式进料前循环和偏差估计反馈回路。该系统称为FLVIS（Feelforward Feedback循环基于视觉惯性系统），在流行的Euroc MAV数据集中进行了评估。相对于其他最先进的视觉大满贯方法，FLVIS具有很高的准确性和鲁棒性。该系统也已在无人机平台上实施和测试。这项研究的源代码对研究界公开。
In this paper, we present a novel stereo visual inertial pose estimation method. Compared to the widely used filter-based or optimization-based approaches, the pose estimation process is modeled as a control system. Designed feedback or feedforward loops are introduced to achieve the stable control of the system, which include a gradient decreased feedback loop, a roll-pitch feed forward loop and a bias estimation feedback loop. This system, named FLVIS (Feedforward-feedback Loop-based Visual Inertial System), is evaluated on the popular EuRoc MAV dataset. FLVIS achieves high accuracy and robustness with respect to other state-of-the-art visual SLAM approaches. The system has also been implemented and tested on a UAV platform. The source code of this research is public to the research community.
