Traditional monocular visual simultaneous localization and mapping (SLAM) systems rely on point features or line features to estimate and optimize the camera trajectory and build a map of the surrounding environment. However, in complex scenarios such as underground parking, the performance of traditional point-line SLAM systems tends to degrade due to mirror reflection, illumination change, poor texture, and other interference. This paper proposes VPL-SLAM, a structural vertical line supported point-line monocular SLAM system that works well in complex environments such as underground parking or campus. The proposed system leverages structural vertical lines at all instances of the process. With the assistance of the structural vertical lines and global vertical direction, our system can output a more accurate visual odometry result. Furthermore, the resulting map of our system is a more reasonable structural line feature map than the previous point-line-based monocular SLAM systems. Our system has been tested with the popular autonomous driving dataset Kitti Odometry. In addition, to fully test the proposed SLAM system, we also test our system using a self-collected dataset, including underground parking and campus scenarios. As a result, our proposal reveals a more accurate navigation result and a more reasonable structural resulting map compared to state-of-the-art point-line SLAM systems such as Structure PLP-SLAM.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    VPL-SLAM: A Vertical Line Supported Point Line Monocular SLAM System


    Contributors:
    Chen, Qi (author) / Cao, Yu (author) / Hou, Jiawei (author) / Li, Guanghao (author) / Qiu, Shoumeng (author) / Chen, Bo (author) / Xue, Xiangyang (author) / Lu, Hong (author) / Pu, Jian (author)


    Publication date :

    2024-08-01


    Size :

    2914061 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Monocular SLAM plane discovery method enhanced by line segments matching

    Meng, Shan / Tang, Wenming | British Library Online Contents | 2017


    PL-ISLAM: an Accurate Monocular Visual-Inertial SLAM with Point and Line Features

    Wang, Haobo / Guan, Lianwu / Yu, Xilin et al. | British Library Conference Proceedings | 2022


    Parsimonious real time monocular SLAM

    Bresson, Guillaume / Feraud, Thomas / Aufrere, Romuald et al. | IEEE | 2012


    Parsimonious Real Time Monocular SLAM

    Bresson, G. / Feraud, T. / Aufrere, R. et al. | British Library Conference Proceedings | 2012


    Edge landmarks in monocular SLAM

    Eade, E. / Drummond, T. | British Library Online Contents | 2009