A Multi-Feature Fusion Slam System Attaching Semantic Invariant to Points and Lines

The traditional simultaneous localization and mapping (SLAM) system uses static points of the environment as features for real-time localization and mapping. When there are few available point features, the system is difficult to implement. A feasible solution is to introduce line features. In compl...

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Hlavní autoři:	Gang Li, Yawen Zeng, Huilan Huang, Shaojian Song, Bin Liu, Xiang Liao
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2021-02-01
Edice:	Sensors
Témata:	visual SLAM point and line features semantic segmentation LSD feature extraction reprojection error
On-line přístup:	https://www.mdpi.com/1424-8220/21/4/1196
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