VI-SLAM System Based on Point-line Features in Structured Environment

被引：0
|
作者：
Guo Y. [1 ]
Zhou Y. [1 ]
Huang S. [1 ]
Liu S. [1 ]
Xie G. [1 ,2 ]
Qin X. [1 ,2 ]
机构：
[1] College of Mechanical and Vehicle Engineering, Hunan University, Changsha
[2] Wuxi Intelligent Control of Research Institute(WICRI), Hunan University, Wuxi
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2024年 / 60卷 / 06期
关键词：
online initialization; point-line feature; SLAM; visual-inertial;
D O I：
10.3901/JME.2024.06.296
中图分类号：
学科分类号：
摘要：
Robot localization technology in structured environments such as indoor has attracted much attention at present. The visual-inertial simultaneous localization and mapping (VI-SLAM) system has been widely used with its low-cost, small-size and high-complementarity. A stereo VI-SLAM system based on point-line features in structured environment is proposed to overcome the difficulty in camera-IMU extrinsic online calibration and insufficient utilization of structured features in the existing VI-SLAM system. Based on the line features in the structured environment, the system uses a two-step method of first stationary and then moving to online initialize the camera-IMU extrinsic parameters, and jointly optimizes the state variables of the localization system by fusing the re-projection error constraints of the point-line features provided by vision and the pre-integration constraints provided by IMU. Experiments on EuRoC indoor UAV datasets and real underground parking lot show that the two-step initialization extrinsic parameters algorithm is effective and accurate to provide good initial value for optimization. Compared with other localization algorithms, the system has higher localization accuracy. © 2024 Chinese Mechanical Engineering Society. All rights reserved.
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页码：296 / 305
页数：9
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