An Optimized Tightly-Coupled VIO Design on the Basis of the Fused Point and Line Features for Patrol Robot Navigation

An Optimized Tightly-Coupled VIO Design on the Basis of the Fused Point and Line Features for Patrol Robot Navigation

The development and maturation of simultaneous localization and mapping (SLAM) in robotics opens the door to the application of a visual inertial odometry (VIO) to the robot navigation system. For a patrol robot with no available Global Positioning System (GPS) support, the embedded VIO components,...

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Bibliographic Details
Main Authors: Linlin Xia, Qingyu Meng, Deru Chi, Bo Meng, Hanrui Yang
Format: Article
Language:English
Published: MDPI AG 2019-04-01
Series:Sensors
Subjects:
tightly-coupled VIO
SLAM
fused point and line feature matching
pose estimates
simplified initialization strategy
patrol robot
map representation
Online Access:https://www.mdpi.com/1424-8220/19/9/2004

Internet

https://www.mdpi.com/1424-8220/19/9/2004

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