Laser & Optoelectronics Progress, Volume. 55, Issue 2, 021501(2018)

Point-Line Feature Fusion in Monocular Visual Odometry

Meng Yuan*, Aihua Li, Yong Zheng, Zhigao Cui, and Zhengqiang Bao
Author Affiliations
  • Institute of War Support, Rocket Force University of Engineering, Xi'an, Shaanxi 710025, China
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    References(12)

    [1] Mur-Artal R. Montiel J M M, Tardós J D. ORB-SLAM: A versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 31, 1147-1163(2015).

    [2] Forster C, Pizzoli M, Scaramuzza D. SVO: Fast semi-direct monocular visual odometry[C]. 2014 IEEE International Conference on Robotics and Automation, 15-22(2014).

    [3] Engel J, Schöps T, Cremers D. LSD-SLAM: Large-scale direct monocular SLAM[C]. European Conference on Computer Vision, 8690, 834-849(2014).

    [4] Engel J, Koltun V, Cremers D. Direct sparse odometry[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 99, 1-1(2017).

    [5] Kümmerle R, Grisetti G. Strasdat H et al. g 2o: A general framework for graph optimization [C]. 2011 IEEE International Conference on Robotics and Automation, 3607-3613(2011).

    [6] Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C]. 2007 6 th IEEE and ACM International Symposium on Mixed & Augmented Reality, 225-234(2007).

    [10] Civera J, Davison A J, Montiel J M. Inverse depth parametrization for monocular SLAM[J]. IEEE Transactions on Robotics, 24, 932-945(2008).

    [11] Sturm J, Engelhard N, Endres F et al. A benchmark for the evaluation of RGB-D SLAM systems[C]. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 573-580(2012).

    CLP Journals

    [1] Yi Zhang, Zhiyu Xiang, Shuya Chen, Shuxia Gu. Optimization on Visual Odometry under Weak Texture Environment[J]. Acta Optica Sinica, 2018, 38(6): 0615001

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    Meng Yuan, Aihua Li, Yong Zheng, Zhigao Cui, Zhengqiang Bao. Point-Line Feature Fusion in Monocular Visual Odometry[J]. Laser & Optoelectronics Progress, 2018, 55(2): 021501

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    Paper Information

    Category: Machine Vision

    Received: Jul. 9, 2017

    Accepted: --

    Published Online: Sep. 10, 2018

    The Author Email: Meng Yuan (824035165@qq.com)

    DOI:10.3788/LOP55.021501

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