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.
关键词
移动机器人定位/视觉惯性里程计/点线特征融合/快速线特征提取
Key words
mobile robot localization/visual-inertial odometry/point-line feature fusion/fast line feature extraction
维普
万方数据