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Abstract - OTPL-VIO: Robust Visual-Inertial Odometry with Optimal Transport Line Association and Adaptive Uncertainty
Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrupt illumination changes, where point features become sparse and unstable, leading to ambiguous association and under-constrained estimation. Line structures offer complementary geometric cues, yet many efficient point-line systems still rely on point-guided line association, which can break down when point support is weak and may lead to biased constraints. We present a stereo point-line VIO system in which line segments are equipped with dedicated deep descriptors and matched using an entropy-regularized optimal transport formulation, enabling globally consistent correspondences under ambiguity, outliers, and partial observations. The proposed descriptor is training-free and is computed by sampling and pooling network feature maps. To improve estimation stability, we analyze the impact of line measurement noise and introduce reliability-adaptive weighting to regulate the influence of line constraints during optimization. Experiments on EuRoC and UMA-VI, together with real-world deployments in low-texture and illumination-challenging environments, demonstrate improved accuracy and robustness over representative baselines while maintaining real-time performance.
OTPL-VIO:基于最优传输线特征关联与自适应不确定性的鲁棒视觉惯性里程计 /
OTPL-VIO: Robust Visual-Inertial Odometry with Optimal Transport Line Association and Adaptive Uncertainty
1️⃣ 一句话总结
这篇论文提出了一种新的视觉惯性里程计系统,它通过一种无需训练的最优传输方法来匹配线特征,并自适应地调整线特征的权重,从而在纹理稀疏或光照突变的恶劣环境中,比现有方法更准确、更鲁棒地估计设备的位置和姿态。