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 4 不同视觉SLAM算法在UMA-VI数据集上的平移均方根误差比较

Tab.4 Comparison of translation root-mean-square error for different visual SLAM algorithms on UMA-VI dataset

序列 RMSE/m ORB-SLAM2 Line-SLAM PL-SLAM 本研究 corridor-eng 1.4618 1.2227 1.1852 0.9728 class-csc1 0.3335 0.3044 0.3188 0.2565 class-csc2 0.4551 0.4181 0.4338 0.3812 parking-csc1 0.7213 0.4510 0.5215 0.3815 hall1-rev-eng 0.1045 0.0824 0.0875 0.0639 hall1-eng — 0.0328 0.0345 0.0269 third-floor-eng — 0.0510 0.0526 0.0486 平均值 0.4394 0.3660 0.3762 0.3044