Integrating voxel mapping with deep network-based point-line feature fusion for robust SLAM

Abstract

The present study addresses the issues of feature loss and map consistency in visual SLAM under low-texture, low-light, and unstructured scenes by proposing an improved system based on ORB-SLAM3. The following innovative features are worthy of note: Firstly, a combination of custom voxel mapping and sparse SLAM is proposed for the purpose of enhancing matching robustness and 3D reconstruction quality in low-texture regions. Secondly, the utilization of a depth map neural network for the fusion of point and line features is suggested. Tests on public datasets and other unstructured scenes demonstrate that this method significantly improves joint feature matching efficiency, validating the complementary advantages of point and line features. The results indicate a considerable boost in both localization accuracy and environmental adaptability in challenging scenarios, setting the foundation for more reliable SLAM applications in real-world conditions.