PGD-VIO: A Plane-Aided RGB-D Inertial Odometry With Graph-Based Drift Suppression

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift, due to their extensive spatial and temporal observability. To make full use of planar information, we propose a novel visual-inertial odometry using an RGB-D camera and an inertial measurement unit, effectively integrating point and plane features in an extended Kalman filter framework. Depth information of point features is leveraged to improve the accuracy of point triangulation, while plane features serve as direct observations added into the state vector. Notably, to benefit long-term navigation, a novel graph-based drift detection strategy is proposed to search overlapping and identical structures in the plane map so that the cumulative drift is suppressed subsequently. The experimental results on two public datasets demonstrate that our system outperforms state-of-the-art methods in localization accuracy and meanwhile generates a compact and consistent plane map.