PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features

• URL: http://arxiv.org/abs/2209.12160v2
• Date: Tue, 26 Sep 2023 09:46:23 GMT
• Title: PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features
• Authors: Weipeng Guan, Peiyu Chen, Yuhan Xie, Peng Lu
• Abstract summary: Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. We propose a robust, high-accurate, and real-time optimization-based monocular event-based visual-inertial odometry (VIO) method.
• Score: 3.6355269783970394
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed motions and in high dynamic range scenarios. However, event cameras output only a little information or even noise when the relative motion between the camera and the scene is limited, such as in a still state. While standard cameras can provide rich perception information in most scenarios, especially in good lighting conditions. These two cameras are exactly complementary. In this paper, we proposed a robust, high-accurate, and real-time optimization-based monocular event-based visual-inertial odometry (VIO) method with event-corner features, line-based event features, and point-based image features. The proposed method offers to leverage the point-based features in the nature scene and line-based features in the human-made scene to provide more additional structure or constraints information through well-design feature management. Experiments in the public benchmark datasets show that our method can achieve superior performance compared with the state-of-the-art image-based or event-based VIO. Finally, we used our method to demonstrate an onboard closed-loop autonomous quadrotor flight and large-scale outdoor experiments. Videos of the evaluations are presented on our project website: https://b23.tv/OE3QM6j

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