PLI-VINS: Visual-Inertial SLAM Based on Point-Line Feature Fusion in Indoor Environment.
Zhangzhen ZhaoTao SongBin XingYu LeiZiqin WangPublished in: Sensors (2022)
Keyphrases
- indoor environments
- feature fusion
- mobile robot
- simultaneous localization and mapping
- path planning
- feature extraction
- multiple features
- indoor localization
- robotic systems
- visual information
- low level
- topological map
- inertial sensors
- visual features
- data reduction
- viewpoint
- high level
- kalman filter
- real time
- multi sensor
- fusion algorithm
- preprocessing