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In the study of indoor simultaneous localization and mapping (SLAM) problems using a stereo camera, two types of primary features-point and line segments-have been widely used to calculate the pose of the camera. However, many feature-based SLAM systems are not robust when the camera moves sharply or turns too quickly. In this paper, an improved indoor visual SLAM method to better utilize the advantages of point and line segment features and achieve robust results in difficult environments is proposed. First, point and line segment features are automatically extracted and matched to build two kinds of projection models. Subsequently, for the optimization problem of line segment features, we add minimization of angle observation in addition to the traditional re-projection error of endpoints. Finally, our model of motion estimation, which is adaptive to the motion state of the camera, is applied to build a new combinational Hessian matrix and gradient vector for iterated pose estimation. Furthermore, our proposal has been tested on EuRoC MAV datasets and sequence images captured with our stereo camera. The experimental results demonstrate the effectiveness of our improved point-line feature based visual SLAM method in improving localization accuracy when the camera moves with rapid rotation or violent fluctuation.
Wang et al. (Sat,) studied this question.