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Laser & Optoelectronics Progress, Volume. 62, Issue 10, 1015013(2025)

Binocular-Vision SLAM Based on Improved ELSED Line-Detection Algorithm

Xu Zhu1, Xiping Xu1、*, Ning Zhang1, Zhi Meng2, Hongwei Tan1, Luqing Zhang1, Yiming Hu1, and Jiaxu Zhang1
Author Affiliations
  • 1School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, Jilin , China
  • 2Unit 31693, Harbin 150000, Heilongjiang , China
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    [1] Xu L, Yin H S, Shi T et al. EPLF-VINS: real-time monocular visual-inertial SLAM with efficient point-line flow features[J]. IEEE Robotics and Automation Letters, 8, 752-759(2023).

    [2] Liu Y, Jiao Y H, Ren C F. A visual SLAM method based on fuzzy image evaluation and feature matching improvement[J]. Laser & Optoelectronics Progress, 61, 2415006(2024).

    [3] Qin T, Li P L, Shen S J. VINS-mono: a robust and versatile monocular visual-inertial state estimator[J]. IEEE Transactions on Robotics, 34, 1004-1020(2018).

    [4] Campos C, Elvira R, Rodríguez J J G et al. ORB-SLAM3: an accurate open-source library for visual, visual-inertial, and multimap SLAM[J]. IEEE Transactions on Robotics, 37, 1874-1890(2021).

    [5] Wang B, Shen D F, Bai P F. Visual SLAM algorithm combining image brightness enhancement module and IMU information[J]. Laser & Optoelectronics Progress, 61, 2428013(2024).

    [6] Pumarola A, Vakhitov A, Agudo A et al. PL-SLAM: real-time monocular visual SLAM with points and lines[C], 4503-4508(2017).

    [7] Gomez-Ojeda R, Moreno F A, Zuñiga-Noël D et al. PL-SLAM: a stereo SLAM system through the combination of points and line segments[J]. IEEE Transactions on Robotics, 35, 734-746(2019).

    [8] Mur-Artal R, Tardós J D. ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 33, 1255-1262(2017).

    [9] Qian K, Zhao W, Li K et al. Visual SLAM with BoPLW pairs using egocentric stereo camera for wearable-assisted substation inspection[J]. IEEE Sensors Journal, 20, 1630-1641(2020).

    [10] Alamanos I, Tzafestas C. ORB-LINE-SLAM: an open-source stereo visual SLAM system with point and line features[EB/OL]. https://www.techrxiv.or g/doi/full/10.36227/techrxiv.21691949.v1

    [11] Zhou S J, Wu G P, He W S. Fast visual inertia SLAM algorithm based on point and line feature[J]. Machine Tool & Hydraulics, 52, 10-16(2024).

    [12] Suárez I, Buenaposada J M, Baumela L. ELSED: enhanced line SEgment drawing[J]. Pattern Recognition, 127, 108619(2022).

    [13] Zuo X X, Xie X J, Liu Y et al. Robust visual SLAM with point and line features[C], 1775-1782(2017).

    [14] 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).

    [15] Vakhitov A, Funke J, Moreno-Noguer F. Accurate and linear time pose estimation from points and lines[M]. Computer vision-ECCV 2016, 9911, 583-599(2016).

    [16] Zeng X D, Fan S S, Xu S Z et al. Monocular VI-SLAM algorithm based on lightweight SuperPoint network in low-light environment[J]. Laser & Optoelectronics Progress, 61, 1815001(2024).

    [17] Geiger A, Lenz P, Stiller C et al. Vision meets robotics: the KITTI dataset[J]. The International Journal of Robotics Research, 32, 1231-1237(2013).

    [18] Luo M. Point-line fusion dense mapping system based on ORB-SLAM3[D](2022).

    [19] Zuñiga-Noël D, Jaenal A, Gomez-Ojeda R et al. The UMA-VI dataset: visual-inertial odometry in low-textured and dynamic illumination environments[J]. The International Journal of Robotics Research, 39, 1052-1060(2020).

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    Xu Zhu, Xiping Xu, Ning Zhang, Zhi Meng, Hongwei Tan, Luqing Zhang, Yiming Hu, Jiaxu Zhang. Binocular-Vision SLAM Based on Improved ELSED Line-Detection Algorithm[J]. Laser & Optoelectronics Progress, 2025, 62(10): 1015013

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    Paper Information

    Category: Machine Vision

    Received: Aug. 13, 2024

    Accepted: Dec. 2, 2024

    Published Online: Apr. 28, 2025

    The Author Email: Xiping Xu (xxp@cust.edu.cn)

    DOI:10.3788/LOP241835

    CSTR:32186.14.LOP241835

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology