Mono-hydra: Real-time 3D scene graph construction from monocular camera input with IMU

• URL: http://arxiv.org/abs/2308.05515v1
• Date: Thu, 10 Aug 2023 11:58:38 GMT
• Title: Mono-hydra: Real-time 3D scene graph construction from monocular camera input with IMU
• Authors: U.V.B.L. Udugama, G. Vosselman, F. Nex
• Abstract summary: The ability of robots to autonomously navigate through 3D environments depends on their comprehension of spatial concepts. 3D scene graphs have emerged as a robust tool for representing the environment as a layered graph of concepts and their relationships. This paper puts forth a real-time spatial perception system Mono-Hydra, combining a monocular camera and an IMU sensor setup, focusing on indoor scenarios.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: The ability of robots to autonomously navigate through 3D environments depends on their comprehension of spatial concepts, ranging from low-level geometry to high-level semantics, such as objects, places, and buildings. To enable such comprehension, 3D scene graphs have emerged as a robust tool for representing the environment as a layered graph of concepts and their relationships. However, building these representations using monocular vision systems in real-time remains a difficult task that has not been explored in depth. This paper puts forth a real-time spatial perception system Mono-Hydra, combining a monocular camera and an IMU sensor setup, focusing on indoor scenarios. However, the proposed approach is adaptable to outdoor applications, offering flexibility in its potential uses. The system employs a suite of deep learning algorithms to derive depth and semantics. It uses a robocentric visual-inertial odometry (VIO) algorithm based on square-root information, thereby ensuring consistent visual odometry with an IMU and a monocular camera. This system achieves sub-20 cm error in real-time processing at 15 fps, enabling real-time 3D scene graph construction using a laptop GPU (NVIDIA 3080). This enhances decision-making efficiency and effectiveness in simple camera setups, augmenting robotic system agility. We make Mono-Hydra publicly available at: https://github.com/UAV-Centre-ITC/Mono_Hydra

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