AGRI-SLAM: a real-time stereo visual SLAM for agricultural environment

Abstract In this research, we proposed a stereo visual simultaneous localisation and mapping (SLAM) system that efficiently works in agricultural scenarios without compromising the performance accuracy contrast to other state-of-the-art methods. The is equipped with an image enhancement technique for ORB point LSD line features recovery, which enables it work broader gives extensive spatial information from low-light hazy environment. Firstly, method has been tested on standard dataset, i.e., KITTI EuRoC, validate by comparing methods, namely VINS-SLAM, PL-SLAM, ORB-SLAM2. experimental results evidence obtains superior than SLAM Secondly, ROSARIO our O-HAZE dataset environments. such cases, while methods fail operate complex environments, successfully operates high accuracy.