Odometry-Vision-Based Ground Vehicle Motion Estimation With SE(2)-Constrained SE(3) Poses

This paper focuses on the motion estimation problem of ground vehicles using odometry and monocular visual sensors. While the keyframe-based batch optimization methods become the mainstream approach in mobile vehicle localization and mapping, the keyframe poses are usually represented by SE(3) in vision-based methods or SE(2) in methods based on range scanners. For a ground vehicle, this paper proposes a new SE(2)-constrained SE(3) parameterization of its poses, which can be easily achieved in the batch optimization framework using specially formulated edges. Utilizing such a parameterization of poses, a complete odometry-vision-based motion estimation system is developed. The system is designed in a commonly used structure of graph optimization, providing high modularity and flexibility for further implementation or adaptation. Its superior performance in terms of accuracy on a ground vehicle platform is validated by real-world experiments in industrial indoor environments.