Kun GONG, Xin XU, Xiaoqing CHEN, Yuelei XU, Zhaoxiang ZHANG. Binocular vision SLAM with fused point and line features in weak texture environment[J]. Optics and Precision Engineering, 2024, 32(5): 752
- Optics and Precision Engineering
- Vol. 32, Issue 5, 752 (2024)
Fig. 1. Framework of binocular vision odometer system integrating point and line features
Fig. 2. Line feature triangulation method
Fig. 3. Schematic diagram of binocular line feature triangulation method based on geometric constraints
Fig. 4. Schematic diagram of weak texture dataset collection devices
Fig. 5. Comparison of line feature extraction algorithms
Fig. 6. Comparison of binocular matching algorithm under weak texture data
Fig. 7. Comparison of image construction and positioning effects between improved binocular point line fusion visual SLAM and ORBSLAM2 algorithms
Fig. 8. Trajectories comparison of four algorithms
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Table 1. [in Chinese]
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Table 1. Comparison between proposed method and line segment matching method based on LBD
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Table 2. Comparison of time consumption of different algorithms
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