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11.06.2020 | Special Issue Paper

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

verfasst von: Chuanye Tang, Xinwen Zhao, Jianfeng Chen, Long Chen, Yazhou Zhou

Erschienen in: Multimedia Systems | Ausgabe 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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Titel: Fast stereo visual odometry based on LK optical flow and ORB-SLAM2
verfasst von: Chuanye Tang
Xinwen Zhao
Jianfeng Chen
Long Chen
Yazhou Zhou
Publikationsdatum: 11.06.2020
Verlag: Springer Berlin Heidelberg
Erschienen in: Multimedia Systems / Ausgabe 6/2022
Print ISSN: 0942-4962
Elektronische ISSN: 1432-1882
DOI: https://doi.org/10.1007/s00530-020-00662-9

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