[1] Chiuso A, Favaro P, Jin H L et al. Structure from motion causally integrated over time[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 24, 523-535(2002).
[2] Davison A J, Reid I D, Molton N D et al. MonoSLAM: real-time single camera SLAM[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 29, 1052-1067(2007).
[3] Civera J, Davison A J. Montiel J M M. Inverse depth parametrization for monocular SLAM[J]. IEEE Transactions on Robotics, 24, 932-945(2008).
[4] Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C]∥2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, November 13-16, 2007, Nara, Japan., 225-234(2007).
[5] Royer E, Bom J, Dhome M et al. Outdoor autonomous navigation using monocular vision[C]∥2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2-6, 2005, Edmonton, AB, Canada., 1253-1258(2005).
[6] Engel J, Schöps T, Cremers D. LSD-SLAM: large-scale direct monocular SLAM[M]. ∥Fleet D, Pajdla T, Schiele B, et al. Computer vision-ECCV 2014. Lecture notes in computer science. Cham: Springer, 8690, 834-849(2014).
[7] Engel J, Koltun V, Cremers D. Direct sparse odometry[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40, 611-625(2018).
[9] ForsterC, PizzoliM, ScaramuzzaD. SVO: fast semi-direct monocular visual odometry[C]∥2014 IEEE International Conference on Robotics and Automation (ICRA), May 31-June 7, 2014, Hong Kong, China. New York: IEEE Press, 2014: 15- 22.
[10] Mur-Artal R. Montiel J M M, Tardós J D. ORB-SLAM: a versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 31, 1147-1163(2015).
[11] Tang CZ, WangO, TanP. GSLAM: initialization-robust monocular visual SLAM via global structure-from-motion[C]∥2017 International Conference on 3D Vision (3DV), October 10-12, 2017, Qingdao, China. New York: IEEE Press, 2017: 155- 164.
[12] Lee S J, Hwang S S. Elaborate monocular point and line SLAM with robust initialization[C]∥2019 IEEE/CVF International Conference on Computer Vision (ICCV), October 27-November 2, 2019, Seoul, Korea (South)., 1121-1129(2019).
[13] Hartley R, Zisserman A[M]. Multiple view geometry in computer vision(2004).
[15] KümmerleR, GrisettiG, StrasdatH, et al.g2o: a general framework for graph optimization[C]∥2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China. New York: IEEE Press, 2011: 3607- 3613.
[16] Agarwal S, Mierle K[2020-11-28]. Ceres solver [2020-11-28].http: ∥www.ceres-solver.org/..
[20] Zhang L L, Koch R. An efficient and robust line segment matching approach based on LBD descriptor and pairwise geometric consistency[J]. Journal of Visual Communication and Image Representation, 24, 794-805(2013).
[21] Sturm J, Engelhard N, Endres F et al. A benchmark for the evaluation of RGB-D SLAM systems[C]∥2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7-12, 2012, Vilamoura-Algarve, Portugal., 573-580(2012).
[22] Shi X, Li D, Zhao P et al. Are we ready for service robots? The OpenLORIS-scene datasets for lifelong SLAM[C]∥2020 IEEE International Conference on Robotics and Automation (ICRA), May 31-August 31, 2020, Paris, France., 3139-3145(2020).