4. Introduction
• 6-DoF運動の推定はロボット工学において重要な課題の一つ
• カメラベースのVisual OdometryとVisual Simultaneous
Localization and Mapping (VSLAM)が注目されている
– IMUからの計測値とカメラを組み合わせたVisual Inertial
Odometry (VIO)が多数提案[1][2][3]
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[1] Ke Sun, Kartik Mohta, Bernd Pfrommer, Michael Watterson, Sikang Liu, Yash Mulgaonkar, Camillo J Taylor, and Vijay Kumar. Robust
stereo visual inertial odometry for fast autonomous flight. IEEE Robotics and Automation Letters, 3(2):965–972, 2018.
[2] Raul Mur-Artal and Juan Domingo Tardos. Visual-inertial monocular slam with map reuse. IEEE Robotics and Automation Letters,
2(2):796–803, 2016.
[3] Qin Tong, Peiliang Li, and Shaojie Shen. Vins-mono: A robust and versatile monocular visual-inertial state estimator. IEEE Transactions
on Robotics, PP(99):1–17, 2017.
5. 関連研究
• 教師あり学習ベースのVisual Inertial Odometry[1]
– LSTM[2]やLSTM+ IMU[3]が登場
• 教師なし学習ベース
– 単眼映像から深度画像とエゴモーションを推定[4]
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学習のための大量の ground truth dataが必要
RGB-D (深度カメラ) や、LiDARが必要
低コストのステレオカメラを用いた自己教師ありVIOシステムを提案
[1] Ruihao Li, Sen Wang, and Dongbing Gu. Ongoing evolution of visual slam from geometry to deep learning: Challenges and opportunities.
Cognitive Computation, 10(6):875–889, 2018.
[2] Jason R Rambach, Aditya Tewari, Alain Pagani, and Didier Stricker. Learning to fuse: A deep learning approach to visual-inertial camera
pose estimation. In 2016 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pages 71–76. IEEE, 2016.
[3] Ronald Clark, Sen Wang, Hongkai Wen, Andrew Markham, and Niki Trigoni. Vinet: Visual-inertial odometry as a sequence-to-sequence
learning problem. In Thirty-First AAAI Conference on Artificial Intelligence, 2017.
[4] Tinghui Zhou, Matthew Brown, Noah Snavely, and David G Lowe. Unsupervised learning of depth and ego-motion from video. In
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pages 1851–1858, 2017.