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Yukai Lin

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2

IROS Conference 2023 Conference Paper

Visual Localization Based on Multiple Maps

  • Yukai Lin
  • Liu Liu
  • Xiao Liang
  • Jiangwei Li

This paper proposes a multi-map based visual localization method for image sequences. Given multiple single-map based localization results, we combine them with SLAM to estimate robust and accurate camera poses under challenging conditions. Our method comprises three modules connected in a sequence. First, we reconstruct multiple reference maps using the Structure-from-Motion technique, one map for each reference sequence. A single-image-based localization pipeline is performed to estimate 6-DoF camera poses for each query image, one for each map. Second, a consensus set maximization module is proposed to select the best camera poses from multi-map poses, estimating one 6-DoF camera pose for each query image. Finally, a robust pose refinement module is proposed to optimize 6-DoF camera poses of query images, combining map-based localization and local SLAM information. Experiments show that the proposed pipeline achieves state-of-the-art performance on challenging map-based localization benchmarks. Demonstrating the broad applicability of our method, we obtained first place in the challenge of Map-Based Localization for Autonomous Driving at ECCV2022.

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AAAI Conference 2021 Conference Paper

Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM

  • Jianzhu Huai
  • Yukai Lin
  • Yuan Zhuang
  • Min Shi

State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc. whose proper operation relies on accurate state estimates and reliable covariances. Unaware of absolute positions, these problems have immanent unobservable directions. Traditional causal estimators, however, usually gain spurious information on the unobservable directions, leading to over-confident covariance inconsistent with actual estimator errors. The consistency problem of fixed-lag smoothers (FLSs) has only been attacked by the first estimate Jacobian (FEJ) technique because of the complexity to analyze their observability property. But the FEJ has several drawbacks hampering its wide adoption. To ensure the consistency of a FLS, this paper introduces the right invariant error formulation into the FLS framework. To our knowledge, we are the first to analyze the observability of a FLS with the right invariant error. Our main contributions are twofold. As the first novelty, to bypass the complexity of analysis with the classic observability matrix, we show that observability analysis of FLSs can be done equivalently on the linearized system. Second, we prove that the inconsistency issue in the traditional FLS can be elegantly solved by the right invariant error formulation without artificially correcting Jacobians. By applying the proposed FLS to the monocular visual inertial simultaneous localization and mapping (SLAM) problem, we confirm that the method consistently estimates covariance similarly to a batch smoother in simulation and that our method achieved comparable accuracy as traditional FLSs on real data.

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