Photometric patch-based visual-inertial odometry

Abstract

In this paper we present a novel direct visual-inertial odometry algorithm, for estimating motion in unknown environments. The algorithm utilizes image patches extracted around image features, and formulates measurement residuals in the image intensity space directly. One key characteristic of the proposed method is that it models the true irradiance at each pixel as a random variable to be estimated and marginalized out. The formulation of the photometric residual explicitly accounts for the camera response function and lens vignetting (which can be calibrated in advance), as well as unknown illumination gains and biases, which are estimated on a per-feature or per-image basis. We present a detailed evaluation of our algorithm on 50 datasets with high-precision ground truth, which amount to approximately 1.5 hours of localization data. Through a direct comparison with a point-feature based method, we demonstrate that the use of photometric residuals results in increased pose estimation accuracy, with approximately 23% lower estimation errors, on average.