外观
论文arXiv 2607.173323 个月前
基于多分辨率体素化地图的立体视觉-惯性里程计
原文链接：Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry（arXiv 2607.17332 · 发布日期：2026-07-19）
Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry
针对先验地图传输受限的VIO，提出多分辨率体素化地图与锥形索引关联，并在两个公开数据集验证。
核心要点
- 先验地图可提升VIO精度与鲁棒性，但地图数据量大、带宽有限，难以持续加载到边缘设备。
- 方法将先验地图按多分辨率体素化，每个体素仅保留一个地图点，以减少需传输的数据量。
- 在线运行时用锥形索引关联2D特征与3D地图点，并通过3D DDA检索对应体素内的唯一点。
- 两个公开数据集上的实验表明，系统能实现准确位姿估计，同时所需数据传输较少。
验证范围与局限：验证范围为两个公开数据集上的实验。
英文摘要 (Abstract)
Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertial odometry (VIO). However, the large data volume of such maps, combined with limited transmission bandwidth, makes it impractical to continuously load local maps onto an edge device. In this paper, we propose a multi-resolution prior map construction method and a corresponding map-based VIO system. The prior map is voxelized at multiple resolutions, with each voxel retaining only a single map point. During online VIO operation, a cone-shaped indexing strategy associates 2D features on the edge device with 3D map points. The cone's intercept is determined by the distance from the current position to the 3D points, enabling the selection of the appropriate resolution level and the retrieval of the unique map point within the corresponding voxel via a 3D digital differential analyzer (DDA) algorithm. This approach minimizes both the volume of data required for transmission and the computational load during data association. Extensive experiments on two public datasets demonstrate that our system achieves accurate pose estimation while requiring minimal data transmission.
作者：Shuyi Pan, Hangtian Wang, Zhaoxing Zhang, Chengliang Zhang, Zikang Yuan, Xin Yang
来源
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