PROCÉDÉ ET APPAREIL DE LOCALISATION ET DE CARTOGRAPHIE SIMULTANÉES PAR SLAM VISUEL BASÉS SUR UNE CARACTÉRISTIQUE DE POINTS ET DE LIGNES

摘要

A visual SLAM method and apparatus based on point and line features are disclosed, so that information about feature points and feature lines in a visual image frame can be integrated to improve visual SLAM accuracy. The method is: receiving a visual image frame input by a camera; extracting feature points and feature lines of the visual image frame; predicting a first pose of the camera device by using the feature points; observing an extracted first feature line, to determine a feature line observation quantity of the first feature line; obtaining a global feature line state vector set of the camera device, where the global feature line state vector set includes feature line state vectors of N historical feature lines, and N is a positive integer; and updating the first pose by using the feature line observation quantity and the global feature line state vector set. In this way, feature point-based motion estimations and observation features of feature lines observed in an environment are integrated, to update a pose of the camera device in real time, thereby improving visual SLAM accuracy.