Kangjin Huang

EPL-VINS: Efficient Point-Line Fusion Visual-Inertial SLAM With LK-RG Line Tracking Method and 2-DoF Line Optimization

The performance of a visual SLAM system based on point features significantly diminishes in low-textured environments due to the challenges in extracting sufficient and reliable points. The fusion of line and point features improves SLAM system performance by providing additional visual constraints.