Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/91611
PIRA download icon_1.1View/Download Full Text
Title: Degeneration-aware outlier mitigation for visual inertial integrated navigation system in urban canyons
Authors: Bai, X 
Wen, W 
Hsu, L 
Issue Date: 2021
Source: IEEE transactions on instrumentation and measurement, 2021, v. 70, 5019915, p. 1-15
Abstract: In this paper, we proposed a graduated non-convexity (GNC) aided outlier mitigation method for the improvement of the visual-inertial integrated navigation system (VINS) to face the challenge of dynamic environments with numerous unexpected outlier measurements. A GNC optical flow algorithm was proposed for the detection of the outliers of feature tracking in the front-end of VINS by iteratively estimating the optical flow and the optimal weightings of feature correspondences. Then the feature correspondences with small weightings were excluded. However, excessive outlier exclusion may cause insufficient constraints on the state, causing degeneration of VINS. To solve the problem, this paper proposed to detect the potential degeneration based on the degree of constraint in different directions of the pose estimation. Then the number of features being considered was intelligently adapted based on the degeneration level to improve the geometry constraint in the coming epochs. We evaluated the effectiveness of the proposed method by using two challenging datasets (including challenging night scenarios) collected in urban canyons of Hong Kong. The results show that the proposed method can effectively reject the potential outlier visual measurements, and alleviate the degeneration, leading to improved positioning performance in both evaluated datasets.
Keywords: Graduated nonconvexity (GNC)
Navigation
Optimization method
Outlier measurements
Urban canyons
Visual-inertial integrated navigation system (VINS)
Visual odometry
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE transactions on instrumentation and measurement 
ISSN: 0018-9456
EISSN: 1557-9662
DOI: 10.1109/TIM.2021.3126010
Rights: © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication X. Bai, W. Wen and L. -T. Hsu, "Degeneration-Aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons," in IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1-15, 2021, Art no. 5019915 is available at https://dx.doi.org/10.1109/TIM.2021.3126010
Appears in Collections:Journal/Magazine Article

Files in This Item:
File Description SizeFormat 
Bai_Degeneration-Aware_Outlier_Mitigation.pdfPre-Published version4.19 MBAdobe PDFView/Open
Open Access Information
Status open access
File Version Final Accepted Manuscript
Access
View full-text via PolyU eLinks SFX Query
Show full item record

Page views

111
Last Week
1
Last month
Citations as of Mar 24, 2024

Downloads

33
Citations as of Mar 24, 2024

SCOPUSTM   
Citations

10
Citations as of Mar 29, 2024

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.