HS-SLAM: A Fast and Hybrid Strategy-Based SLAM Approach for Low-Speed Autonomous Driving

原文アブストラクト

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative strategy-based hybrid framework HS-SLAM is proposed to integrate the advantages of direct and feature-based methods for fast computation without decreasing the performance. It first estimates the relative positions of consecutive frames using IMU pose estimation within the tracking thread. Then, it refines these estimates through a multi-layer direct method, which progressively corrects the relative pose from coarse to fine, ultimately achieving accurate corner-based feature matching. This approach serves as an alternative to the conventional constant-velocity tracking model. By selectively bypassing descriptor extraction for non-critical frames, HS-SLAM significantly improves the tracking speed. Experimental evaluations on the EuRoC MAV dataset demonstrate that HS-SLAM achieves higher localization accuracies than ORB-SLAM3 while improving the average tracking efficiency by 15%.