Laser & Optoelectronics Progress, Volume. 62, Issue 14, 1428002(2025)

Visual-Inertial SLAM Algorithm with Fusion of Point-Line Features and Stepwise Marginalization

Xinyao Chai1, Li Li2,3, Rong Tang1,3, Dongxuan Han2, Zhangjun Peng2,3, and Zhigui Liu1,3、*
Author Affiliations
  • 1School of Information and Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan , China
  • 2School of Computer Science and Technology, Southwest University of Science and Technology, Mianyang 621010, Sichuan , China
  • 3Sichuan Engineering Technology Research Center of Industrial Self-Supporting and Artificial Intelligence, Mianyang 621010, Sichuan , China
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    Xinyao Chai, Li Li, Rong Tang, Dongxuan Han, Zhangjun Peng, Zhigui Liu. Visual-Inertial SLAM Algorithm with Fusion of Point-Line Features and Stepwise Marginalization[J]. Laser & Optoelectronics Progress, 2025, 62(14): 1428002

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Nov. 15, 2024

    Accepted: Feb. 4, 2025

    Published Online: Jul. 17, 2025

    The Author Email: Zhigui Liu (liuzhigui@swust.edu.cn)

    DOI:10.3788/LOP242268

    CSTR:32186.14.LOP242268

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