RGB-D visual SLAM for point association local edge features

Abstract

Aiming at the difficulty of point feature matching in 3D reconstruction to meet the tracking requirements of weakly textured scenes, this paper proposes a visual SLAM algorithm based on grid method combining points with edge features. In the tracking thread, a method based on grid method is proposed to evaluate the feature quality of points. The textures of external environment are judged according to ORB feature description, and the information of Canny edge features of weakly textured mesh is added to improve the positioning accuracy. In the local mapping thread, the joint feature points pose and map points are iteratively optimized to improve the convergence rate of the algorithm. The simulation results show that the proposed algorithm has a good location and tracking effects in the weak texture scene.