Visual-inertial fusion positioning and mapping method based on point-line features

Abstract

Traditional visual Simultaneous Localisation And Mapping (SLAM) technique has the problem of the strong dependence and weak noise immunity in a structured or weak texture environment. This paper proposes a method of simultaneous location and map building based on the information of the visual point, line features and inertial information fusion. Feature points and feature lines are extracted by camera and fused with inertial information. Deep extraction of point and line features is used to obtain scale information. Then optimise the trajectory by bundle adjustment. The evaluations on the public data set of EuRoc show that the Root Mean Square Error (RMSE) is 0.152 m and the method has excellent accuracy, robustness and timeliness.