Monocular Visual-Inertial Odometry for Agricultural Environments

Abstract

The accuracy of autonomous robot localization using a monocular visual-inertial odometry system (VIO) is significantly reduced in an agricultural environment compared to an urban and indoor environment due to the unstructured scenes with unstable features, variation of light conditions, and rugged terrain. To address those challenges, we propose a monocular VIO system with modifications to the existing state-of-the-art monocular VIO system VINS-mono. Three modules of VINS-mono have improved in this work: vision processing front end, pose optimization, failure detection and recovery. In the vision processing front-end module, we proposed a keyframe selection algorithm base on vertical movement smoothness verification to prevent the rapid loss of feature tracks. In the pose optimization module, some feature points are removed using a depth-limited approach to improve the efficiency and accuracy of trajectory tracking. In the failure detection and recovery module, we propose a failure recovery method using the old trajectory poses, which can recover the trajectory tracking process interrupted by the failure and alleviate the orientation drift. Experiments on the Rosario dataset have shown that our system outperforms VINS-mono, and the absolute trajectory error in the agricultural environment can be at least reduced by 69% compared with the VINS-mono, which can effectively improve the localization accuracy of agriculture robots in the agricultural environment.