PLI-VINS: Visual-Inertial SLAM Based on Point-Line Feature Fusion in Indoor Environment

In indoor low-texture environments, the point feature-based visual SLAM system has poor robustness and low trajectory accuracy. Therefore, we propose a visual inertial SLAM algorithm based on point-line feature fusion. Firstly, in order to improve the quality of the extracted line segment, a line se...

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Detalles Bibliográficos
Autores principales: Zhao, Zhangzhen, Song, Tao, Xing, Bin, Lei, Yu, Wang, Ziqin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9319817/
https://www.ncbi.nlm.nih.gov/pubmed/35891134
http://dx.doi.org/10.3390/s22145457

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9319817/
https://www.ncbi.nlm.nih.gov/pubmed/35891134
http://dx.doi.org/10.3390/s22145457

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