LiDAR-Visual-Inertial Odometry Based on Optimized Visual Point-Line Features

LiDAR-Visual-Inertial Odometry Based on Optimized Visual Point-Line Features

This study presents a LiDAR-Visual-Inertial Odometry (LVIO) based on optimized visual point-line features, which can effectively compensate for the limitations of a single sensor in real-time localization and mapping. Firstly, an improved line feature extraction in scale space and constraint matchin...

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Bibliographic Details
Main Authors: Xuan He, Wang Gao, Chuanzhen Sheng, Ziteng Zhang, Shuguo Pan, Lijin Duan, Hui Zhang, Xinyu Lu
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Remote Sensing
Subjects:
multi-sensor fusion
visual point and line feature
SLAM
LiDAR-visual-inertial odometry
Online Access:https://www.mdpi.com/2072-4292/14/3/622

Internet

https://www.mdpi.com/2072-4292/14/3/622

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