低纹理环境下融合点线面特征的双目视觉SLAM算法

汪泽,饶蕾,范光宇,陈年生,程松林,杨定裕,姜楚乔

Stereo visual SLAM algorithm for fusing point-line-plane features in low texture environments

Ze WANG,Lei RAO,Guangyu FAN,Niansheng CHEN,Songlin CHENG,Dingyu YANG,Chuqiao JIANG

表 2 不同视觉SLAM算法在KITTI 数据集上的平移均方根误差比较

Tab.2 Comparison of translation root-mean-square error for different visual SLAM algorithms on KITTI dataset

序列 RMSE/m ORB-SLAM2 Line-SLAM PL-SLAM RS-SLAM 本研究 00 4.958 3.903 4.565 3.754 3.795 01 6.210 9.078 8.816 10.574 5.704 02 9.552 9.887 9.946 9.728 8.052 03 0.261 0.243 0.255 0.654 0.271 04 0.172 0.175 0.192 0.199 0.232 05 1.957 1.911 1.856 2.056 1.800 06 2.695 2.428 2.553 2.152 1.927 07 1.577 1.469 1.428 1.309 1.109 08 3.137 3.163 3.089 3.625 2.788 09 2.901 2.865 2.875 3.200 2.373 10 0.989 0.954 0.818 1.073 0.795 平均值 3.128 3.279 3.308 3.395 2.622