PLE-SLAM: A Visual-Inertial SLAM Based on Point-Line Features and Efficient IMU Initialization.

Jiaming He Mingrui Li Yangyang Wang Hongyu Wang

Published in: CoRR (2024)

Keyphrases

path planning
mobile robot
indoor environments
line features
simultaneous localization and mapping
dynamic environments
image features
multiple views
data association
particle filter
kalman filter
structural information
inertial sensors