融合点线特征的视觉惯性 SLAM 算法.

To solve the problems of difficult initialization and low positioning accuracy of SLAM algorithm caused by sparse feature points and fast camera movement in practical application scenes, this paper proposed a visual-inertial SLAM algorithm. It used EDLines feature extraction and matching algorithm to introduce rich line features to improve the robustness of feature tracking. Using the complementary advantages of the inertial sensor and the visual sensor, it carried out the optimization in three steps in the initial stage through the visual-inertial initialization by steps method, so as to improve the accuracy and speed of the initialization. Experiments show that the line feature extraction and matching algorithm used in this algorithm provides faster matching speed and lower mismatching rate than the traditional LSD algorithm. Moreover, the proposed algorithm has higher accuracy and stronger robustness in the estimation of camera pose in the visual-inertial data set. [ABSTRACT FROM AUTHOR]