SIR-SLAM: A Robust and Efficient Visual-Inertial Odometry System with IMU-RANSAC and Smooth Non-linear Optimization

Visual–inertial odometry (VIO) fuses camera and inertial measurements to enable real-time state estimation and map reconstruction. However, in low-texture scenes, under abrupt illumination changes, or in highly dynamic environments, conventional VIO pipelines often suffer from degraded accuracy and...

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Vydáno v:Journal of physics. Conference series Ročník 3055; číslo 1; s. 12021 - 12030
Hlavní autoři: Liu, Zican, Hu, Zhuhua, Zhao, Yaochi
Médium: Journal Article
Jazyk:angličtina
Vydáno: Bristol IOP Publishing 01.07.2025
Témata:
Bundle adjustment
Illumination
Inertial guidance
Real time
Robustness
Run time (computers)
Sequences
State estimation
ISSN:1742-6588, 1742-6596
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Shrnutí:Visual–inertial odometry (VIO) fuses camera and inertial measurements to enable real-time state estimation and map reconstruction. However, in low-texture scenes, under abrupt illumination changes, or in highly dynamic environments, conventional VIO pipelines often suffer from degraded accuracy and poor real-time performance. To address these challenges, a SIR-SLAM with enhanced VIO framework is presented that integrates an inertial–guided RANSAC (IMU-RANSAC) front-end with a differentiable Levenberg–Marquardt (D-LM) back-end optimizer. IMU-RANSAC leverages inertial priors to identify and discard outlier feature correspondences, thereby reinforcing tracking robustness. The proposed D-LM algorithm introduces a smooth, differentiable trust-region adjustment strategy, which stabilizes dampingfactor updates and accelerates convergence of the non-linear bundle adjustment. Extensive experiments on the EuRoC benchmark demonstrate that SIR-SLAM consistently outperforms state-of-the-art baselines in terms of trajectory accuracy, runtime throughput, and inlier-matching ratio. In particular, the system exhibits superior adaptability and robustness in sequences characterized by aggressive motions and severe illumination variations.
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/3055/1/012021