哈尔滨工程大学学报2024，Vol.45Issue(4)：771-778,8.DOI:10.11990/jheu.202209031
融合点线特征的视觉惯性同时定位及建图
Visual-inertia simultaneous localization and mapping based on point-and-line features
摘要
Abstract
The accuracy of mobile robot localization in low-texture scenes is often compromised,leading to frequent tracking loss.To solve this problem,this study proposes an innovative point-line feature extraction and matching strategy incorporated into the visual-inertial simultaneous localization and mapping(SLAM)system.The approach begins by proposing a line feature extraction and matching algorithm.Refining the hidden parameters of the line feature extraction algorithm improves accuracy.Subsequently,diverse matching screening frameworks for point-line features are employed to reduce mismatches.This approach results in a line feature extraction matching algorithm suitable for the visual-inertial SLAM system.By integrating the proposed line feature constraint into the current vis-ual-inertial framework,this study establishes a robust visual-inertial SLAM system suitable for operation in unknown low-texture environments.Experimental validation with a mobile robot in a real-world setting demonstrates superior accuracy and robustness of the proposed strategy compared with those of the existing visual-inertial framework.The system enhances indoor localization accuracy by 24.2%and corridor localization accuracy by 8%,providing sub-stantial value for high-precision mobile robot localization in low-texture scenes.关键词
同时定位及建图/点线特征/视觉惯性里程计/单目视觉/移动机器人感知/特征匹配/低纹理/回环检测Key words
simultaneous localization and mapping/point-and-line features/visual-inertial odometer/monocular vi-sion/mobile robot perception/feature matching/low texture/loop detection分类
信息技术与安全科学引用本文复制引用
姚建均,李英朝,吴杨,唐瑞卓,于新达,闫宇坤..融合点线特征的视觉惯性同时定位及建图[J].哈尔滨工程大学学报,2024,45(4):771-778,8.基金项目
黑龙江省自然科学基金项目(E2018019). （E2018019）
