Research on Inter-Frame Feature Mismatch Removal Method of VSLAM in Dynamic Scenes

Research on Inter-Frame Feature Mismatch Removal Method of VSLAM in Dynamic Scenes

Visual Simultaneous Localization and Mapping (VSLAM) estimates the robot’s pose in three-dimensional space by analyzing the depth variations of inter-frame feature points. Inter-frame feature point mismatches can lead to tracking failure, impacting the accuracy of the mobile robot’s self-localizatio...

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Bibliographic Details
Main Authors: Zhiyong Yang, Yang He, Kun Zhao, Qing Lang, Hua Duan, Yuhong Xiong, Daode Zhang
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Sensors
Subjects:
VSLAM
feature matching
GMS
improved RANSAC
Online Access:https://www.mdpi.com/1424-8220/24/3/1007

Internet

https://www.mdpi.com/1424-8220/24/3/1007

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