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Laser & Optoelectronics Progress, Volume. 59, Issue 2, 0210003(2022)

Simultaneous Localization and Mapping Based on Point and Line Feature Matching

Yunduo Li1,2, Jin Che1,2、*, and Cheng Xue1,2
Author Affiliations
  • 1School of Physics and Electronic-Electrical Engineering, Ningxia University, Yinchuan , Ningxia 750021, China
  • 2Ningxia Key Laboratory of Intelligent Sensing for Desert Information, Ningxia University, Yinchuan , Ningxia 750021, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (10)
    Equations (9)
    References (21)
    Cited By (3)
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    Paper Information
    Topics
    Figures & Tables(10)
    Frame diagram of proposed algorithm

    Fig. 1. Frame diagram of proposed algorithm

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    Schematic diagram of feature calculation

    Fig. 2. Schematic diagram of feature calculation

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    Point feature extraction and matching

    Fig. 3. Point feature extraction and matching

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    Line projection error analysis diagram

    Fig. 4. Line projection error analysis diagram

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    Line feature extraction and matching

    Fig. 5. Line feature extraction and matching

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    Point cloud plan of datasets. (a) V1_03_difficult; (b) V2_01_easy

    Fig. 6. Point cloud plan of datasets. (a) V1_03_difficult; (b) V2_01_easy

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    Test on V1_03_difficult. (a) PL-SLAM; (b) PL-VINS; (c) ORB-SLAM; (d) proposed algorithm

    Fig. 7. Test on V1_03_difficult. (a) PL-SLAM; (b) PL-VINS; (c) ORB-SLAM; (d) proposed algorithm

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    Test on V2_01_easy. (a) PL-SLAM; (b) PL-VINS; (c) ORB-SLAM; (d) proposed algorithm

    Fig. 8. Test on V2_01_easy. (a) PL-SLAM; (b) PL-VINS; (c) ORB-SLAM; (d) proposed algorithm

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    Running tracks. (a) V1_02_medium; (b) V2-02-mdeium; (c) MH-02-easy; (d) MH-03-medium

    Fig. 9. Running tracks. (a) V1_02_medium; (b) V2-02-mdeium; (c) MH-02-easy; (d) MH-03-medium

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    • Table 1. RMSE comparison of various SLAM algorithms

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      Table 1. RMSE comparison of various SLAM algorithms

      DatasetProposed algorithmPL-SLAM［6］PL-VINS［8］ORB-SLAM［3］
      V1-01-easy0.04720.04610.06280.0387
      V1-02-mdeium0.0450.04770.1030.0664
      V1_03_difficult0.06930.06320.15180.0643
      V2-01-easy0.0690.07110.08060.0293
      V2-02-mdeium0.05610.05670.17130.0702
      MH-01-easy0.06110.05770.14060.0312
      MH-02-easy0.05390.05500.120.0681
      MH-03-medium0.04910.05610.18010.0799
      MH-04-difficult0.06230.06450.20130.0655
      MH-05-difficult0.07390.0670.25610.0404
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    Yunduo Li, Jin Che, Cheng Xue. Simultaneous Localization and Mapping Based on Point and Line Feature Matching[J]. Laser & Optoelectronics Progress, 2022, 59(2): 0210003

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    Paper Information

    Category: Image Processing

    Received: Feb. 3, 2021

    Accepted: Mar. 9, 2021

    Published Online: Dec. 23, 2021

    The Author Email: Jin Che (koalache@126.com)

    DOI:10.3788/LOP202259.0210003

    Topics

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