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Multimedia Systems
Published in: Multimedia Systems 6/2022

11-06-2020 | Special Issue Paper

Fast stereo visual odometry based on LK optical flow and ORB-SLAM2

Authors: Chuanye Tang, Xinwen Zhao, Jianfeng Chen, Long Chen, Yazhou Zhou

Published in: Multimedia Systems | Issue 6/2022

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Abstract

A stereo visual odometry algorithm based on the fusion of optical flow tracking and feature matching called LK-ORB-SLAM2 was proposed. In LK-ORB-SLAM2, the operation of optical flow tracking is introduced to adjust the intensive and time-consuming operation of feature matching. This requires solving a key issue: how to solve the problem of losing feature points during optical flow tracking. For this reason, an adaptive matching-frame insertion scheme is proposed to stop optical flow tracking in time and inserts matching-frames and detect new feature points at the right time to keep LK-ORB-SLAM2 running. The experiment on the KITTI and EuRoC data set showed that LK-ORB-SLAM2 reduced the average processing time per frame of ORB-SLAM2 by about 70%, with the change of less than 2% in its accuracy.
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Metadata
Title
Fast stereo visual odometry based on LK optical flow and ORB-SLAM2
Authors
Chuanye Tang
Xinwen Zhao
Jianfeng Chen
Long Chen
Yazhou Zhou
Publication date
11-06-2020
Publisher
Springer Berlin Heidelberg
Published in
Multimedia Systems / Issue 6/2022
Print ISSN: 0942-4962
Electronic ISSN: 1432-1882
DOI
https://doi.org/10.1007/s00530-020-00662-9

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