학술논문
Monocular Visual-Inertial Odometry Based on Point and Line Features
Document Type
Conference
Author
Source
2020 IEEE 6th International Conference on Computer and Communications (ICCC) Computer and Communications (ICCC), 2020 IEEE 6th International Conference on. :1443-1449 Dec, 2020
Subject
Language
Abstract
In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.