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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...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2022
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| Materias: | |
| 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 |