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Computer Science > Robotics

arXiv:1710.00893 (cs)
[Submitted on 2 Oct 2017]

Title:PIRVS: An Advanced Visual-Inertial SLAM System with Flexible Sensor Fusion and Hardware Co-Design

Authors:Zhe Zhang, Shaoshan Liu, Grace Tsai, Hongbing Hu, Chen-Chi Chu, Feng Zheng
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Abstract:In this paper, we present the PerceptIn Robotics Vision System (PIRVS) system, a visual-inertial computing hardware with embedded simultaneous localization and mapping (SLAM) algorithm. The PIRVS hardware is equipped with a multi-core processor, a global-shutter stereo camera, and an IMU with precise hardware synchronization. The PIRVS software features a novel and flexible sensor fusion approach to not only tightly integrate visual measurements with inertial measurements and also to loosely couple with additional sensor modalities. It runs in real-time on both PC and the PIRVS hardware. We perform a thorough evaluation of the proposed system using multiple public visual-inertial datasets. Experimental results demonstrate that our system reaches comparable accuracy of state-of-the-art visual-inertial algorithms on PC, while being more efficient on the PIRVS hardware.
Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)
Cite as: arXiv:1710.00893 [cs.RO]
  (or arXiv:1710.00893v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1710.00893

Submission history

From: Zhe Zhang [view email]
[v1] Mon, 2 Oct 2017 20:17:54 UTC (1,390 KB)
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