To realize stable and precise localization in the dynamic environments, the authors propose a fast and robust visual odometry (VO) approach with a low-cost Inertial Measurement Unit (IMU) in this study.
The proposed VO incorporates the direct method with the indirect method to track the features and to optimize the camera pose. It initializes the positions of tracked pixels with the IMU information. Besides, the tracked pixels are refined by minimizing the photometric errors. Due to the small convergence radius of the indirect method, the dynamic pixels are rejected. Subsequently, the camera pose is optimized by minimizing the reprojection errors. The frames with little dynamic information are selected to create keyframes. Finally, the local bundle adjustment is performed to refine the poses of the keyframes and the positions of 3-D points.
The proposed VO approach is evaluated experimentally in dynamic environments with various motion types, suggesting that the proposed approach achieves more accurate and stable location than the conventional approach. Moreover, the proposed VO approach works well in the environments with the motion blur.
The proposed approach fuses the indirect method and the direct method with the IMU information, which improves the localization in dynamic environments significantly.
