Laser & Optoelectronics Progress, Volume. 58, Issue 14, 1415003(2021)
Simultaneous Localization and Mapping Algorithm with Point and Line Features Based on Grouping Strategy
[1] Zhao L M, Ye C, Zhang Y et al. Path recognition method of robot vision navigation in unstructured environments[J]. Acta Optica Sinica, 38, 0815028(2018).
[2] Zhang T X, Zhou J, Liao H L et al. Simultaneous localization and mapping strategy of graph optimization based on three-dimensional laser[J]. Laser & Optoelectronics Progress, 56, 201502(2019).
[3] Meier L, Tanskanen P, Heng L et al. PIXHAWK: a micro aerial vehicle design for autonomous flight using onboard computer vision[J]. Autonomous Robots, 33, 21-39(2012).
[4] Zhang Y, Ren G Q, Cheng Z Y et al. Application research of there-dimensional LiDAR in unmanned vehicle environment perception[J]. Laser & Optoelectronics Progress, 56, 130001(2019).
[5] Zhao S F, Huang T, Xu Q et al. Unsupervised monocular depth estimation for autonomous flight of drones[J]. Laser & Optoelectronics Progress, 57, 021012(2020).
[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, November 13-16, 2007, Nara, Japan., 225-234(2007).
[7] Trajković M, Hedley M. Fast corner detection[J]. Image and Vision Computing, 16, 75-87(1998).
[8] 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).
[9] Rublee E, Rabaud V, Konolige K et al. ORB: an efficient alternative to SIFT or SURF[C]. //2011 International Conference on Computer Vision, November 6-13, 2011, Barcelona, Spain, 2564-2571(2011).
[10] Zhou H Z, Zou D P, Pei L et al. StructSLAM: visual SLAM with building structure lines[J]. IEEE Transactions on Vehicular Technology, 64, 1364-1375(2015).
[11] Pumarola A, Vakhitov A, Agudo A et al. PL-SLAM: real-time monocular visual SLAM with points and lines[C]. //2017 IEEE International Conference on Robotics and Automation (ICRA), May 29-June 3, 2017, Singapore, 4503-4508(2017).
[12] von Gioi R G, Jakubowicz J, Morel J M et al. LSD: a fast line segment detector with a false detection control[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 32, 722-732(2010).
[13] Li H A, Yao J, Lu X H et al. Combining points and lines for camera pose estimation and optimization in monocular visual odometry[C]. //2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 24-28, 2017, Vancouver, BC, Canada., 1289-1296(2017).
[14] Burri M, Nikolic J, Gohl P et al. The EuRoC micro aerial vehicle datasets[J]. The International Journal of Robotics Research, 35, 1157-1163(2016).
[15] 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).
[16] Cho N G, Yuille A, Lee S W. A novel linelet-based representation for line segment detection[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40, 1195-1208(2018).
[17] 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, October 7-12, 2012, Vilamoura-Algarve, Portugal., 573-580(2012).
[18] Gomez-Ojeda R, Briales J, Gonzalez-Jimenez J. PL-SVO: semi-direct monocular visual odometry by combining points and line segments[C]. //2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea (South), 4211-4216(2016).
[19] Gomez-Ojeda R, Gonzalez-Jimenez J. Robust stereo visual odometry through a probabilistic combination of points and line segments[C]. //2016 IEEE International Conference on Robotics and Automation (ICRA), May 16-21, 2016, Stockholm, Sweden., 2521-2526(2016).
[20] Engel J, Schöps T, Cremers D. LSD-SLAM: large-scale direct monocular SLAM[M]. //Fleet D, Pajdla T, Schiele B, et al. Computer vision-ECCV 2014. Lecture notes in computer science, 8690, 834-849(2014).
Get Citation
Copy Citation Text
Qi Fang, Xiaohua Wang, Jie Su. Simultaneous Localization and Mapping Algorithm with Point and Line Features Based on Grouping Strategy[J]. Laser & Optoelectronics Progress, 2021, 58(14): 1415003
Category: Machine Vision
Received: Oct. 2, 2020
Accepted: Nov. 18, 2020
Published Online: Jul. 14, 2021
The Author Email: Xiaohua Wang (w_xiaohua@126.com)