Systems Engineering and Electronics ›› 2023, Vol. 45 ›› Issue (10): 3207-3217.doi: 10.12305/j.issn.1001-506X.2023.10.25
• Guidance, Navigation and Control • Previous Articles
Liping YAN1,*, Chengwei LI1, Bokai XU1, Yuanqing XIA1, Bo XIAO2
Received:
2022-08-17
Online:
2023-09-25
Published:
2023-10-11
Contact:
Liping YAN
CLC Number:
Liping YAN, Chengwei LI, Bokai XU, Yuanqing XIA, Bo XIAO. A monocular visual inertial odometry based on structural features[J]. Systems Engineering and Electronics, 2023, 45(10): 3207-3217.
Table 1
Root mean square error of piston and rotation"
序列 | OpenVINS | PL-VIO | MF-VIO | FMF-VIO | |||||||
平移/m | 旋转/rad | 平移/m | 旋转/rad | 平移/m | 旋转/rad | 平移/m | 旋转/rad | ||||
MH_01_easy | / | / | 0.139 7881 | 0.026 952 | 0.172 3642 | 0.024 5442 | 0.175 494 | 0.023 9751 | |||
MH_02_easy | / | / | 0.141 971 | 0.043 020 | 0.136 8332 | 0.038 5541 | 0.136 2591 | 0.038 8872 | |||
MH_03_medium | / | / | 0.264 665 | 0.042 052 | 0.260 5641 | 0.037 9341 | 0.263 4432 | 0.038 8712 | |||
MH_04_difficult | / | / | 0.362 234 | 0.040 540 | 0.329 1412 | 0.039 5931 | 0.325 9931 | 0.039 6552 | |||
MH_05_ difficult | / | / | 0.277 990 | 0.026 338 | 0.269 9911 | 0.025 4512 | 0.270 5852 | 0.022 9421 | |||
V1_01_easy | 0.0641 | 0.020 9261 | 0.079 288 | 0.143 704 | 0.068 9541 | 0.141 5902 | 0.070 522 | 0.141 952 | |||
V1_03_difficult | 0.202 | 0.103 5682 | 0.202 742 | 0.085 312 | 0.114 1081 | 0.112 057 | 0.181 2052 | 0.082 7371 | |||
V2_01_easy | 0.073 | 0.027 6631 | 0.087 473 | 0.053 186 | 0.059 3902 | 0.029 635 | 0.058 8551 | 0.029 3662 | |||
V2_02_medium | 0.0791 | 0.041 3641 | 0.147 834 | 0.073 4792 | 0.141 0452 | 0.077 073 | 0.141 081 | 0.077 313 | |||
V2_03_ difficult | / | / | 0.308 307 | 0.077 721 | 0.214 9721 | 0.037 3351 | 0.257 5712 | 0.044 2542 |
Table 2
Real time display of VP extraction algorithm ms"
序列 | MF | GMF | G2MF |
MH_01_easy | 63.320 76 | 12.049 29 | 9.625 10 |
MH_02_easy | 59.049 39 | 13.145 60 | 8.789 46 |
MH_03_ medium | 57.212 60 | 11.961 64 | 9.586 75 |
MH_04_difficult | 58.012 88 | 11.695 74 | 8.921 13 |
MH_05_ difficult | 57.783 94 | 12.289 53 | 8.775 61 |
V1_01_easy | 58.892 84 | 10.977 85 | 8.411 83 |
V1_03_difficult | 56.624 59 | 10.368 42 | 9.129 10 |
V2_01_easy | 56.284 12 | 9.939 593 | 9.404 82 |
V2_02_medium | 58.044 27 | 11.710 93 | 9.303 44 |
V2_03_ difficult | 58.629 07 | 10.307 59 | 9.595 35 |
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