2024
DOI: 10.1088/1361-6501/ad9627
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LL-VI SLAM: enhanced visual-inertial SLAM for low-light environments

Tianbing Ma,
Liang Li,
Fei Du
et al.

Abstract: In low-light environments, the scarcity of visual information makes feature extraction and matching challenging for traditional visual Simultaneous Localization and Mapping (SLAM) systems. Changes in ambient lighting can also reduce the accuracy and recall of loop closure detection. Most existing image enhancement methods tend to introduce noise, artifacts, and color distortions when enhancing images. To address these issues, we propose an innovative low-light visual-inertial SLAM system, named LL-VI SLAM, whi… Show more

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