Structureless VIO
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866915345518821376 |
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| author | Song, Junlin Olivares-Mendez, Miguel |
| author_facet | Song, Junlin Olivares-Mendez, Miguel |
| contents | Visual odometry (VO) is typically considered as a chicken-and-egg problem, as the localization and mapping modules are tightly-coupled. The estimation of a visual map relies on accurate localization information. Meanwhile, localization requires precise map points to provide motion constraints. This classical design principle is naturally inherited by visual-inertial odometry (VIO). Efficient localization solutions that do not require a map have not been fully investigated. To this end, we propose a novel structureless VIO, where the visual map is removed from the odometry framework. Experimental results demonstrated that, compared to the structure-based VIO baseline, our structureless VIO not only substantially improves computational efficiency but also has advantages in accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_12337 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Structureless VIO Song, Junlin Olivares-Mendez, Miguel Robotics Computer Vision and Pattern Recognition Visual odometry (VO) is typically considered as a chicken-and-egg problem, as the localization and mapping modules are tightly-coupled. The estimation of a visual map relies on accurate localization information. Meanwhile, localization requires precise map points to provide motion constraints. This classical design principle is naturally inherited by visual-inertial odometry (VIO). Efficient localization solutions that do not require a map have not been fully investigated. To this end, we propose a novel structureless VIO, where the visual map is removed from the odometry framework. Experimental results demonstrated that, compared to the structure-based VIO baseline, our structureless VIO not only substantially improves computational efficiency but also has advantages in accuracy. |
| title | Structureless VIO |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2505.12337 |