Research on Visual-inertial Odometry Method Based on Point-line Feature Fusion
Visual Inertial Odometry(VIO),composed of cameras and inertial measurement units based on image point features,is widely used in the positioning field of mobile robots,but it faces the problem of point feature degra-dation,which greatly affects its positioning accuracy.Therefore,a VIO method based on point-and-line feature fu-sion is proposed in this paper,and experiments are conducted on the EuRoC dataset.The results show that this method not only has the best positioning accuracy,but also the time of line feature extraction is low.
mobile robot localizationvisual-inertial odometrypoint-line feature fusionfast line feature extraction
万方数据
维普
