期刊
DRONES
卷 6, 期 1, 页码 -出版社
MDPI
DOI: 10.3390/drones6010023
关键词
simultaneous localization and mapping (SLAM); fast bilateral filtering; SURF algorithm; nearest-neighbor algorithm; geometric constraints; feature extraction
资金
- National Natural Science Foundation of China (NSFC) [61603297]
- Natural Science Foundation of Shaanxi Province [2020JQ-219]
This paper proposes an inertial SLAM method based on point-line vision for indoor weak texture and illumination, which can be effectively operated in real time and improves positioning accuracy in scenarios with illumination changes and blurred images.
In view of traditional point-line feature visual inertial simultaneous localization and mapping (SLAM) system, which has weak performance in accuracy so that it cannot be processed in real time under the condition of weak indoor texture and light and shade change, this paper proposes an inertial SLAM method based on point-line vision for indoor weak texture and illumination. Firstly, based on Bilateral Filtering, we apply the Speeded Up Robust Features (SURF) point feature extraction and Fast Nearest neighbor (FLANN) algorithms to improve the robustness of point feature extraction result. Secondly, we establish a minimum density threshold and length suppression parameter selection strategy of line feature, and take the geometric constraint line feature matching into consideration to improve the efficiency of processing line feature. And the parameters and biases of visual inertia are initialized based on maximum posterior estimation method. Finally, the simulation experiments are compared with the traditional tightly-coupled monocular visual-inertial odometry using point and line features (PL-VIO) algorithm. The simulation results demonstrate that the proposed an inertial SLAM method based on point-line vision for indoor weak texture and illumination can be effectively operated in real time, and its positioning accuracy is 22% higher on average and 40% higher in the scenario that illumination changes and blurred image.
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