国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Aiming at the drawbacks of point-line feature SLAM algorithm, such as extracting a large number of similar line features in dense areas of image and over-segmentation of line segments on the same line, a stereo SLAM algorithm (ISSLAM) with improved point-line feature is proposed. In the pre-processing stage, gradient density filter is used to eliminate feature-intensive areas in the image, which reduces the mismatch rate of line features and speeds up the feature extraction process. Then, on the basis of LSD algorithm, line segment merging mechanism is used to merge the broken lines caused by over-segmentation on the same line, improves the accuracy of feature extraction. In the loop closure detection stage, the extended Bag-of-words model incorporating line features is used. The criterion of image similarity calculation is added to improve the accuracy of loop closure detection. ISSLAM algorithm improves the efficiency and accuracy of feature matching by adding filtering, merging mechanism and expanding the Bag-of-words model, optimizing feature extraction, and improving the performance of the algorithm. Finally, the EuRoc common data set is taken as the experimental object to prove the effectiveness of the algorithm.