VI-SLAM System Based on Point-line Features in Structured Environment

doi:10.3901/JME.2024.06.296

Abstract

Abstract: Robot localization technology in structured environments such as indoor has attracted much attention at present. The visual-inertial simultaneous localization and mapping (VI-SLAM) system has been widely used with its low-cost, small-size and high-complementarity. A stereo VI-SLAM system based on point-line features in structured environment is proposed to overcome the difficulty in camera-IMU extrinsic online calibration and insufficient utilization of structured features in the existing VI-SLAM system. Based on the line features in the structured environment, the system uses a two-step method of first stationary and then moving to online initialize the camera-IMU extrinsic parameters, and jointly optimizes the state variables of the localization system by fusing the re-projection error constraints of the point-line features provided by vision and the pre-integration constraints provided by IMU. Experiments on EuRoC indoor UAV datasets and real underground parking lot show that the two-step initialization extrinsic parameters algorithm is effective and accurate to provide good initial value for optimization. Compared with other localization algorithms, the system has higher localization accuracy.

Key words: SLAM, visual-inertial, point-line feature, online initialization

CLC Number:

TG156

GUO Yibiao, ZHOU Yunshui, HUANG Shengjie, LIU Shuo, XIE Guotao, QIN Xiaohui. VI-SLAM System Based on Point-line Features in Structured Environment[J]. Journal of Mechanical Engineering, 2024, 60(6): 296-305.

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