Keyframe-Based Visual-Inertial Online SLAM with Relocalization

Anton Kasyanov, Francis Engelmann, Jörg Stückler, Bastian Leibe
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'17)

Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial simultaneous localization and mapping (SLAM) for monocular and stereo cameras. Our method is based on a real-time capable visual-inertial odometry method that provides locally consistent trajectory and map estimates. We achieve global consistency in the estimate through online loop-closing and non-linear optimization. Furthermore, our approach supports relocalization in a map that has been previously obtained and allows for continued SLAM operation. We evaluate our approach in terms of accuracy, relocalization capability and run-time efficiency on public benchmark datasets and on newly recorded sequences. We demonstrate state-of-the-art performance of our approach towards a visual-inertial odometry method in recovering the trajectory of the camera.

» Show BibTeX

title={{Keyframe-Based Visual-Inertial Online SLAM with Relocalization}},
author={Anton Kasyanov and Francis Engelmann and J\"org St\"uckler and Bastian Leibe},
booktitle={{IEEE/RSJ} International Conference on Intelligent Robots and Systems {(IROS)}},

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