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Computer Science > Robotics

arXiv:2309.08142 (cs)
[Submitted on 15 Sep 2023 (v1), last revised 16 Jul 2024 (this version, v5)]

Title:MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration

Authors:Yifu Wang, Yonhon Ng, Inkyu Sa, Alvaro Parra, Cristian Rodriguez, Tao Jun Lin, Hongdong Li
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Abstract:We present a novel optimization-based Visual-Inertial SLAM system designed for multiple partially overlapped camera systems, named MAVIS. Our framework fully exploits the benefits of wide field-of-view from multi-camera systems, and the metric scale measurements provided by an inertial measurement unit (IMU). We introduce an improved IMU pre-integration formulation based on the exponential function of an automorphism of SE_2(3), which can effectively enhance tracking performance under fast rotational motion and extended integration time. Furthermore, we extend conventional front-end tracking and back-end optimization module designed for monocular or stereo setup towards multi-camera systems, and introduce implementation details that contribute to the performance of our system in challenging scenarios. The practical validity of our approach is supported by our experiments on public datasets. Our MAVIS won the first place in all the vision-IMU tracks (single and multi-session SLAM) on Hilti SLAM Challenge 2023 with 1.7 times the score compared to the second place.
Comments: OpenMAVIS available at: this https URL
Subjects: Robotics (cs.RO)
Cite as: arXiv:2309.08142 [cs.RO]
  (or arXiv:2309.08142v5 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2309.08142

Submission history

From: Yifu Wang [view email]
[v1] Fri, 15 Sep 2023 04:15:37 UTC (12,907 KB)
[v2] Mon, 18 Sep 2023 01:44:09 UTC (12,911 KB)
[v3] Mon, 20 Nov 2023 00:30:11 UTC (12,911 KB)
[v4] Tue, 9 Jul 2024 07:07:22 UTC (12,911 KB)
[v5] Tue, 16 Jul 2024 13:08:13 UTC (6,081 KB)
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