Post-integration based point-line feature visual SLAM in low-texture environments

Post-integration based point-line feature visual SLAM in low-texture environments

Abstract To address the issues of weak robustness and low accuracy of traditional SLAM data processing algorithms in weak texture environments such as low light and low contrast, this paper first studies and improves the data feature extraction method, optimizing the AGAST-based feature extraction a...

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Bibliographic Details
Main Authors: Yanli Liu, Zhengyuan Feng, Heng Zhang, Wang Dong
Format: Article
Language:English
Published: Nature Portfolio 2025-04-01
Series:Scientific Reports
Subjects:
Low-texture features
Point-line fusion SLAM
Loop closure detection
Feature extraction
Online Access:https://doi.org/10.1038/s41598-025-97250-6
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