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 7 fr3/ntn序列上本研究算法与PL-SLAM追踪时间对比
Fig.7 Comparison of tracking time between proposed method and PL-SLAM on sequence fr3/ntn