抛弃传统地图，用无结构设计提升视觉惯性里程计的效率与精度。
Structureless VIO
- 不依赖视觉地图，直接通过纯传感器数据实现定位
- 相比传统方法计算效率显著提升，精度也更优
- 适合资源受限场景，如嵌入式设备实时定位
视觉里程计（VO）通常面临定位与建图模块相互依赖的难题：定位需地图点提供运动约束，而地图构建又依赖准确的定位信息。这一经典设计也被继承至视觉惯性里程计（VIO）。然而，无需地图的高效定位方案尚未充分探索。为此，我们提出一种新型无结构VIO，从里程计框架中移除视觉地图。实验表明，相较于基于结构的VIO基线，我们的方法在计算效率上显著提升，同时在精度方面也具有优势。
原文摘要 · Abstract (English)
Visual odometry (VO) is typically considered as a chicken-and-egg problem, as the localization and mapping modules are tightly-coupled. The estimation of a visual map relies on accurate localization information. Meanwhile, localization requires precise map points to provide motion constraints. This classical design principle is naturally inherited by visual-inertial odometry (VIO). Efficient localization solutions that do not require a map have not been fully investigated. To this end, we propose a novel structureless VIO, where the visual map is removed from the odometry framework. Experimental results demonstrated that, compared to the structure-based VIO baseline, our structureless VIO not only substantially improves computational efficiency but also has advantages in accuracy.
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