Fusion of sparse direct method and feature-based approach in stereo point-line SLAM algorithm

Hao Wang; Zhen Xu; Kuang Leng

doi:10.1117/12.3047637

16 January 2025 Fusion of sparse direct method and feature-based approach in stereo point-line SLAM algorithm

Hao Wang, Zhen Xu, Kuang Leng

Author Affiliations +

Proceedings Volume 13447, International Conference on Mechatronics and Intelligent Control (ICMIC 2024); 1344744 (2025) https://doi.org/10.1117/12.3047637
Event: International Conference on Mechatronics and Intelligent Control (ICMIC 2024), 2024, Wuhan, China

Abstract

The development of autonomous driving and augmented reality has led to increased demands for accuracy and speed in visual SLAM. Traditional feature-based visual SLAM performs real-time image analysis with high complexity and computation requirements, necessitating devices with exceptionally high arithmetic power. This poses challenges for deployment on low-power devices. Additionally, relying solely on photometric errors makes the system too sensitive to the environment. To tackle these issues, our algorithm integrates the feature-based method and the sparse direct method. We employ the sparse joint method for pose estimation in the tracking thread, considering both accuracy and speed. Incase of tracking failure, we extract feature point lines for tracking. Furthermore, to enhance system robustness in low-texture environments and fuse point-line features, we employ adaptive weighted extraction of point-line features, considering computational resources. Our experimental results, based on public datasets, demonstrate that this algorithm achieves faster operation speeds in simple environments and higher accuracy compared to other SLAM algorithms in complex environments and fast camera movement scenes.

(2025) Published by SPIE. Downloading of the abstract is permitted for personal use only.

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Hao Wang, Zhen Xu, and Kuang Leng "Fusion of sparse direct method and feature-based approach in stereo point-line SLAM algorithm", Proc. SPIE 13447, International Conference on Mechatronics and Intelligent Control (ICMIC 2024), 1344744 (16 January 2025); https://doi.org/10.1117/12.3047637

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KEYWORDS

Direct methods

Pose estimation

Cameras

Detection and tracking algorithms

Feature extraction

Visualization

Feature fusion

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