基于点线特征的快速视觉SLAM方法
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马鑫,梁新武,蔡纪源
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Fast visual SLAM method based on point and line features
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Xin MA,Xin-wu LIANG,Ji-yuan CAI
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表 2 ICL-NUIM和TUM RGB-D数据集上不同算法绝对轨迹误差对比 |
Tab.2 Comparison of ATE among different methods on ICL-NUIM and TUM RGB-D datasets |
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m | 序列 | 本研究算法 | PL-SLAM | ORB-SLAM2 | LPVO | DVO-SLAM | lr_kt0 | 0.006 | 0.010 | 0.008 | 0.015 | 0.108 | lr_kt1 | 0.010 | 0.025 | 0.135 | 0.039 | 0.059 | lr_kt2 | 0.018 | 0.023 | 0.029 | 0.034 | 0.375 | lr_kt3 | 0.014 | 0.013 | 0.014 | 0.102 | 0.433 | of_kt0 | 0.035 | 0.046 | 0.056 | 0.061 | 0.244 | of_kt1 | 0.022 | 0.035 | 0.058 | 0.052 | 0.178 | of_kt2 | 0.027 | 0.034 | 0.025 | 0.039 | 0.099 | of_kt3 | 0.018 | 0.036 | 0.050 | 0.030 | 0.079 | fr1/xyz | 0.009 | 0.010 | 0.010 | − | 0.011 | fr1/room | 0.040 | 0.056 | 0.059 | − | 0.053 | fr1/360 | 0.130 | 0.161 | 0.228 | − | 0.083 | fr3/ntn | 0.012 | 0.018 | 0.024 | − | 0.018 | fr3/ntf | 0.025 | 0.038 | 0.051 | − | − | fr3/stf | 0.009 | 0.014 | 0.013 | 0.174 | 0.048 |
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