Electronics Optics & Control, Volume. 32, Issue 5, 41(2025)
BPLF-VINS: A Visual Inertial Mileage Calculation Method Based on Point-Line Feature Fusion
[6] [6] 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. Nara: ACM, 2007: 225-234.
[7] [7] LOWE D G. Distinctive image features from scale-invariant keypoints[J]. International Journal of Computer Vision, 2004, 60: 91-110.
[8] [8] BAY H, ESS A, TUYTELAARS T, et al. Speeded-up robust features (SURF)[J]. Computer Vision and Image Understanding, 2008, 110(3): 346-359.
[9] [9] HU J, LEI W H, ZHUO D S, et al. Enhance pose and extrinsic accuracy with online spatial and temporal compensation in monocular camera-aided GNSS/SINS integration[J]. IEEE Transactions on Instrumentation and Measurement, 2024, 73. doi:10.1109/TIM.2024.3370759.
[11] [11] ZHANG G X, LEE J H, LIM J W, et al. Building a 3-D line-based map using stereo SLAM[J]. IEEE Transactions on Robotics, 2015, 31(6): 1364-1377.
[13] [13] MUR-ARTAL R, MONTIEL J M M, TARDOS J D. ORB-SLAM: a versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 2015, 31(5): 1147-1163.
[14] [14] HE Y J, ZHAO J, GUO Y, et al. PL-VIO: tightly-coupled monocular visual-inertial odometry using point and line features[J]. Sensors, 2018, 18(4): 1159.
[15] [15] VON GIOI R G, JAKUBOWICZ J, MOREL J, et al. LSD: a fast line segment detector with a false detection control[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2010, 32(4): 722-732.
[16] [16] ZHANG L L, KOUCH R. An efficient and robust line segment matching approach based on LBD descriptor and pairwise geometric consistency[J]. Journal of Visual Communication & Image Representation, 2013, 24(7): 794-805.
[17] [17] QIN T, LI P L, SHEN S J. VINS-Mono: a robust and versatile monocular visual-inertial state estimator[J]. IEEE Transactions on Robotics, 2018, 34(4): 1004-1020.
[19] [19] BURRI M, NIKOLIC J, GOHL P, et al. The EuRoC micro aerial vehicle datasets[J]. International Journal of Robotics Research, 2016, 35(10): 1157-1163.
Get Citation
Copy Citation Text
ZHANG Ruotian, ZHAO Xu, ZHAO Hui, LI Lianpeng. BPLF-VINS: A Visual Inertial Mileage Calculation Method Based on Point-Line Feature Fusion[J]. Electronics Optics & Control, 2025, 32(5): 41
Category:
Received: Apr. 16, 2024
Accepted: May. 13, 2025
Published Online: May. 13, 2025
The Author Email: