Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 3
956-960

Multi-dimensional improving method for point-line fusion stereo SLAM

Chen Weixing
Wang Chen
Chen Bin
College of Electronic Information & Automation, Civil Aviation University of China, Tianjin 300300, China
DOI: 10.19734/j.issn.1001-3695.2021.07.0293

Abstract

Due to low line extraction and matching accuracy, existing point-line fusion visual SLAM(simultaneous localization and mapping) methods have low localization accuracy. This paper improved existing point-line fusion stereo visual SLAM method from multiple dimensions. Firstly, this paper improved the LSD(line segment detection) extraction quality through internal parameters adjustment and length threshold filtering. Secondly, on the basis of geometric constraints, it abstracted the line feature matching as a sparse minimization problem to find best match of line segment. Thirdly, on the basis of image texture score and number of successfully matched features, this paper improved back-end point-line feature fusion strategy by assigning point-line feature weights. Compared with LSD algorithm and LBD(line binary descriptor) matching method, the number of short line segments decreased by 67% on average and matching accuracy increased by 18% on average. Compared with PL-SLAM, localization error dropped by about 15% and 45% respectively on the EuRoC and KITTI datasets. Experiments demonstrate that the proposed method enhances localization accuracy of SLAM system effectively by improving various modules performance of point-line SLAM method in multiple dimensions.

Foundation Support

国家自然科学基金委员会—中国民航局民航联合研究基金资助项目(U1933107)
2020年天津市研究生科研创新项目(人工智能专项) (2020YJSZXS16)
中国民航大学研究生科研创新资助项目(2020YJS027)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.07.0293
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 3
Section: Technology of Graphic & Image
Pages: 956-960
Serial Number: 1001-3695(2022)03-054-0956-05

Publish History

[2021-11-06] Accepted Paper
[2022-03-05] Printed Article

Cite This Article

陈维兴, 王琛, 陈斌. 点线融合双目定位与建图多维提升方法 [J]. 计算机应用研究, 2022, 39 (3): 956-960. (Chen Weixing, Wang Chen, Chen Bin. Multi-dimensional improving method for point-line fusion stereo SLAM [J]. Application Research of Computers, 2022, 39 (3): 956-960. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    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.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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