Dense Planar-Inertial SLAM with Structural Constraints

Ming Hsiao, Eric Westman and Michael Kaess
Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2018

Download Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


In this work, we develop a novel dense planar- inertial SLAM (DPI-SLAM) system to reconstruct dense 3D models of large indoor environments using a hand-held RGB-D sensor and an inertial measurement unit (IMU). The preintegrated IMU measurements are loosely-coupled with the dense visual odometry (VO) estimation and tightly-coupled with the planar measurements in a full SLAM framework. The poses, velocities, and IMU biases are optimized together with the planar landmarks in a global factor graph using incremental smoothing and mapping with the Bayes Tree (iSAM2). With odometry estimation using both RGB-D and IMU data, our system can keep track of the poses of the sensors even without sufficient planes or visual information (e.g. textureless walls) temporarily. Modeling planes and IMU states in the fully probabilistic global optimization reduces the drift that distorts the reconstruction results of other SLAM algorithms. Moreover, structural constraints between nearby planes (e.g. right angles) are added into the DPI-SLAM system, which further recovers the drift and distortion. We test our DPI-SLAM on large indoor datasets and demonstrate its state-of-the-art performance as the first planar-inertial SLAM system.

author = {Ming Hsiao and Eric Westman and Michael Kaess},
title = {Dense Planar-Inertial SLAM with Structural Constraints},
booktitle = {IEEE Intl. Conf. on Robotics and Automation, ICRA},
year = {2018},
month = {May},
} 2018-05-29T09:35:18-04:00