四川大学学报（自然科学版）2026，Vol.63Issue(3)：574-585,12.DOI:10.19907/j.0490-6756.250328
SVPLP-SLAM:一种基于点-线-面特征融合并带有假定平面约束的RGB-D视觉SLAM
SVPLP-SLAM:An RGB-D visual SLAM using point-line-plane feature fusion with supposed plane constraints
摘要
Abstract
Traditional RGB-D Visual Simultaneous Localization and Mapping(vSLAM)systems rely pre-dominantly on a single kind of feature or a simplistic combination of features.However,such approaches of-ten fail to achieve optimal accuracy and mapping completeness,particularly in scenarios characterized by low texture and significant noise.In contrast,the fusion of multiple features has shown superior performance in mitigating localization inaccuracies while simultaneously enhancing robustness.Therefore,this paper pro-poses a novel RGB-D Visual SLAM system Using Point-Line-Plane Feature Fusion with Supposed Plane Constraints(SVPLP-SLAM)that synergistically integrates point features,line features,and plane features for localization and mapping.The system uses an RGB-D camera to extract point features and line features from the RGB images,and plane features from the depth images.By employing correlation matching and length suppression strategies,invalid long-distance short line features can be eliminated.Using supposed planes as edge constraints,the system can obtain plane features with orthogonal structures.The introduction of line features and plane features can effectively decrease the number of features required by the tracking mod-ule,thereby reducing the computational complexity of Bundle Adjustment(BA)optimization.Finally,using the root mean square error(RMSE)of absolute trajectory errors(ATEs)as a basis,extensive experiments on the TUM RGB-D and ICL-NUIM datasets verify that the proposed method outperforms current main-stream methods in terms of localization accuracy.关键词
同时定位与建图/RBG-D视觉/多特征融合/光束法平差/关联匹配/假定平面约束Key words
simultaneous localization and mapping/RGB-D Visual/multi-feature fusion/bundle adjust-ment/association matching/supposed plane constraints分类
信息技术与安全科学引用本文复制引用
杨磊,陈杰,唐天航,刘怡光..SVPLP-SLAM:一种基于点-线-面特征融合并带有假定平面约束的RGB-D视觉SLAM[J].四川大学学报（自然科学版）,2026,63(3):574-585,12.基金项目
国家重点研发计划项目(2023YFF0615800) （2023YFF0615800）
四川省科技计划项目(2024ZHCG0191) （2024ZHCG0191）
