Table 1.
List of English abbreviations.
Fig 1.
OMFF-SLAM algorithm process.
Fig 2.
The triangulation process of 2D points and lines.
Fig 3.
Process diagram of IMS-VSLAM algorithm.
Fig 4.
Structural model of TWR robot.
Fig 5.
The framework of camera imaging model and visual SLAM algorithm.
Fig 6.
Schematic diagram of software architecture and chassis node program flow for wheeled robot platform.
Fig 7.
Comparison of positioning accuracy results of different algorithms based on the TUM dataset.
Table 2.
Performance comparison of different algorithms based on TUM dataset.
Table 3.
Comparison of performance results of different algorithms on different indoor datasets.
Fig 8.
Experimental results of slip based on IMS-VSLAM algorithm under different data packets.
Table 4.
Performance results of different algorithms based on the RI dataset.
Fig 9.
Speed variation curves of different algorithms based on the SIF dataset.
Table 5.
Performance results of different algorithms based on SIF dataset.
Fig 10.
Different algorithm trajectory results based on OD dataset 2D and 3D packets.
Table 6.
Performance results of different algorithms based on OD dataset.
Fig 11.
Simulation results of different algorithms in dynamic scenario 1.
Fig 12.
Simulation results of different algorithms in dynamic scenario 2.
Fig 13.
Analysis of the application effects of different fusion algorithms in static scenes and snowy road scenes with unknown dynamic obstacles.