Research on Visual–Inertial Measurement Unit Fusion Simultaneous Localization and Mapping Algorithm for Complex Terrain in Open-Pit Mines

Abstract

As mining technology advances, intelligent robots in open-pit mining require precise localization and digital maps. Nonetheless, significant pitch variations, uneven highways, and rocky surfaces with minimal texture present substantial challenges to the precision of feature extraction and positioning in traditional visual SLAM systems, owing to the intricate terrain features of open-pit mines. This study proposes an improved SLAM technique that integrates visual and Inertial Measurement Unit (IMU) data to address these challenges. The method incorporates a point–line feature fusion matching strategy to enhance the quality and stability of line feature extraction. It integrates an enhanced Line Segment Detection (LSD) algorithm with short segment culling and approximate line merging techniques. The combination of IMU pre-integration and visual feature restrictions is executed inside a tightly coupled visual–inertial framework utilizing a sliding window approach for back-end optimization, enhancing system robustness and precision. Experimental results demonstrate that the suggested method improves RMSE accuracy by 36.62% and 26.88% on the MH and VR sequences of the EuRoC dataset, respectively, compared to ORB-SLAM3. The improved SLAM system significantly reduces trajectory drift in the simulated open-pit mining tests, improving localization accuracy by 40.62% and 61.32%. The results indicate that the proposed method demonstrates significance.