PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

Understand

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment.

• In low-textured environments, though, it is often difficult to find a sufficient number of reliable point features and, as a consequence, the performance of such algorithms degrades.
• This paper proposes PL-SLAM, a stereo visual SLAM system that combines both points and line segments to work robustly in a wider variety of scenarios, particularly in those where point features are scarce or not well-distributed in the image.
• PL-SLAM leverages both points and segments at all the instances of the process: visual odometry, keyframe selection, bundle adjustment, etc.