Fig. 1. General framework of proposed algorithm

Fig. 2. Line feature extraction results and time consumption of each algorithm in measured environment. (a) Hough algorithm (118.045 ms); (b) LSD algorithm (62.7 ms); (c) LSWMS algorithm (40 ms); (d) EDLine algorithm (18.2 ms)

Fig. 3. Possible changes in same line feature between two consecutive frames. (a) Existence of slight angles; (b) existence of slight distances

Fig. 4. Schematic diagram of coordinate frame involved in proposed system

Fig. 5. Platform for actual measurement data acquisition

Fig. 6. Line feature matching results of traditional LSD algorithm and proposed algorithm. (a) LSD algorithm; (b) proposed algorithm

Fig. 7. Trajectory fitting curves of KITTI data set experiments. (a) 09_30_0018 data set; (b) 09_30_0027 data set

Fig. 8. APE root mean square error (APE_RMSE) comparison curves of KITTI data set experiments. (a) 09_30_0018 data set;

Fig. 9. APE_RMSE comparison curves of tunnel data set experiments. (a) Tunnel 1 data set; (b) Tunnel 2 data set

Fig. 10. Trajectory fitting curves of urban road data set experiment. (a) Urban road data set; (b) road of test field data set

Fig. 11. APE_RMSE comparison curves of urban road data set experiment. (a) Urban road data set; (b) road of test field data set