基于梯度信息控制曝光的视觉惯性里程计

doi:10.12305/j.issn.1001-506X.2023.05.26

Abstract

Abstract:

In visual-inertial odometry (VIO), the direct method is based on the assumption of invariance of brightness, which limits the performance in scenes with rapid brightness changes, and different exposure time will lead to difference in the brightness values of the same object. To solve this problem, an active exposure control algorithm for VIO is proposed, which dynamically adjusts the exposure time of the camera according to the image gradient information to maximize the available information and improve the visual feature extraction and tracking stability. The algorithm is applied to VIO for experimental verification, and the results show that the improved VIO has improved localization performance.

Key words: exposure time, inertial measurement unit (IMU), odometry, direct method

CLC Number:

TP242.6

Keke LU, Chao WANG, Junfeng WU, Feng QIAN. Visual-inertial odometry based on exposure controlled by gradient information[J]. Systems Engineering and Electronics, 2023, 45(5): 1496-1502.

Figures/Tables 10

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References 30

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序号	曝光时间/μs	M_perc	M_softperc	FAST特征数
1	5 000	3	8	35
2	1 0000	4	15	127
3	15 000	5	20	238
4	20 000	5	24	337
5	25 000	5	24	359
6	30 000	4	23	328
7	35 000	5	22	282
8	40 000	5	21	258
9	45 000	5	20	227
10	50 000	4	19	224
11	55 000	4	18	194
12	60 000	4	17	188
13	65 000	4	15	149
14	70 000	4	15	152
15	75 000	4	14	131

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Visual-inertial odometry based on exposure controlled by gradient information

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