电子科技2026，Vol.39Issue(9)：58-66,9.DOI:10.16180/j.cnki.issn1007-7820.2026.09.008
基于结构垂直线支持的点线SLAM算法
Point Line SLAM Algorithm Based on Structural Vertical Line Support
摘要
Abstract
The traditional visual SLAM(Simultaneous Localization and Mapping)method uses point features to estimate the camera's movement trajectory and construct an environmental map.In view of the problem that fac-tors such as ground reflection and illumination changes in special scenarios like underground parking lots cause the performance degradation of traditional point SLAM systems,this paper proposes a VPL(Vertical-Point-Line)-SLAM algorithm that fuses structural vertical line features and point features to enhance the robustness of pose estimation in special scenarios.The line detection model E-Lines(Enhanced Direct Lines)is improved.High-quality line features are obtained by adding structural vertical line constraints,adding additional angle and length standards to eliminate noisy line features,and the dual-strategy matching mechanism of LBD(Line Band Discrip-tor)and optical flow.More accurate line feature constraints are constructed by combining the line reprojection error based on Euclidean distance and the structural direction error.Construct a point-line projection model in a tightly coupled manner to optimize pose estimation.Tests are conducted on the KITTI dataset and self-collected datasets.The experimental results show that on both datasets,compared with the original algorithm,the absolute translation error of the algorithm proposed in this paper is reduced by approximately 75%,enhancing its robustness in special scenarios.关键词
同时定位与地图构建/特殊场景/SLAM系统/点特征/结构垂直线特征/EDLines/LBD/KITTI数据集Key words
simultaneous localization and mapping/special scene/SLAM system/point feature/vertical line characteristics of the structure/EDLines/LBD/KITTI dataset分类
信息技术与安全科学引用本文复制引用
纪周,蔡洁,魏鸿扬..基于结构垂直线支持的点线SLAM算法[J].电子科技,2026,39(9):58-66,9.基金项目
国家自然科学基金(62273239)National Natural Science Foundation of China(62273239) （62273239）
