基于点线特征的快速视觉SLAM方法
马鑫,梁新武,蔡纪源

Fast visual SLAM method based on point and line features
Xin MA,Xin-wu LIANG,Ji-yuan CAI
图 3 像素与深度测量信息结合的线特征重投影误差
Fig.3 Line feature reprojection error combining pixel and depth measurement information