App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 10

Real-time visual-inertial SLAM algorithm based on point-line feature Fusion

Wang Leia
Chen Shuaikuna
Qi Junyanb
Yuan Ruifuc
a. School of Computer Science & Technology, b. School of Software, c. School of Energy Science & Engineering, Henan Polytechnic University, Jiaozuo Henan 454003, China
DOI: 10.19734/j.issn.1001-3695.2023.12.0636

Abstract

This paper introduces a real-time SLAM algorithm designed for mobile robots operating in environments characterized by low illumination and low texture. The algorithm leverages the fusion of visual point-line features and IMU characteristics. We enhance the EDlines algorithm by incorporating a leapfrog routing strategy and an adaptive threshold strategy, thereby improving the quality of line feature extraction and consequently enhancing feature tracking effectiveness. We establish tight coupling constraints between visual and inertial features and employ a sliding window, along with a marginalization model, for nonlinear optimization. This enables high-precision and real-time state estimation. Experimental results highlight the algorithm's superior effectiveness in online feature extraction when compared to traditional line segment extraction methods. Concurrently, the SLAM system achieves enhanced localization accuracy and robustness.

Foundation Support

河南省科技创新团队项目(22IRTSTHN005)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.12.0636
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 10

Publish History

[2024-03-28] Accepted Paper

Cite This Article

王磊, 陈帅坤, 齐俊艳, 等. 基于点线特征融合的实时视惯SLAM算法 [J]. 计算机应用研究, 2024, 41 (10). (2024-07-12). https://doi.org/10.19734/j.issn.1001-3695.2023.12.0636. (Wang Lei, Chen Shuaikun, Qi Junyan, et al. Real-time visual-inertial SLAM algorithm based on point-line feature Fusion [J]. Application Research of Computers, 2024, 41 (10). (2024-07-12). https://doi.org/10.19734/j.issn.1001-3695.2023.12.0636. )

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  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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