Research on visual SLAM method of mobile robot based on improved ORB algorithm
Taking mobile robot visual navigation as the application background, an improved ORB algorithm is proposed to solve the problems of feature points unevenly distributing and too many redundant features in visual SLAM. Firstly, the scale-space pyramid of each image is meshed to increase the scale info...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
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National Computer System Engineering Research Institute of China
2019-01-01
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| Series: | Dianzi Jishu Yingyong |
| Subjects: | |
| Online Access: | http://www.chinaaet.com/article/3000096111 |
| _version_ | 1811335059066585088 |
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| author | Cheng Yi Tong Xiaoyu |
| author_facet | Cheng Yi Tong Xiaoyu |
| author_sort | Cheng Yi |
| collection | DOAJ |
| description | Taking mobile robot visual navigation as the application background, an improved ORB algorithm is proposed to solve the problems of feature points unevenly distributing and too many redundant features in visual SLAM. Firstly, the scale-space pyramid of each image is meshed to increase the scale information. Secondly, feature points are detected, using improved FAST corner points adaptive extraction and setting region of interest. Thirdly, non-maximum suppression method is used to suppress the output low threshold feature points. Finally, feature points variance values based on region image is used to evaluate of distribution feature points in images. Experiments verify that the improved ORB algorithm has more uniform distribution, fewer output overlapping feature points and shorter run time. |
| first_indexed | 2024-04-13T17:18:23Z |
| format | Article |
| id | doaj.art-50793e3878214076900316bdedb87481 |
| institution | Directory Open Access Journal |
| issn | 0258-7998 |
| language | zho |
| last_indexed | 2024-04-13T17:18:23Z |
| publishDate | 2019-01-01 |
| publisher | National Computer System Engineering Research Institute of China |
| record_format | Article |
| series | Dianzi Jishu Yingyong |
| spelling | doaj.art-50793e3878214076900316bdedb874812022-12-22T02:38:04ZzhoNational Computer System Engineering Research Institute of ChinaDianzi Jishu Yingyong0258-79982019-01-01451101310.16157/j.issn.0258-7998.1830463000096111Research on visual SLAM method of mobile robot based on improved ORB algorithmCheng Yi0Tong Xiaoyu1Electronic Engineering and Automation，Tianjin Polytechnic University，Tianjin 300387，ChinaElectronic Engineering and Automation，Tianjin Polytechnic University，Tianjin 300387，ChinaTaking mobile robot visual navigation as the application background, an improved ORB algorithm is proposed to solve the problems of feature points unevenly distributing and too many redundant features in visual SLAM. Firstly, the scale-space pyramid of each image is meshed to increase the scale information. Secondly, feature points are detected, using improved FAST corner points adaptive extraction and setting region of interest. Thirdly, non-maximum suppression method is used to suppress the output low threshold feature points. Finally, feature points variance values based on region image is used to evaluate of distribution feature points in images. Experiments verify that the improved ORB algorithm has more uniform distribution, fewer output overlapping feature points and shorter run time.http://www.chinaaet.com/article/3000096111mobile robotvisual navigationvisual SLAMimproved ORB algorithm |
| spellingShingle | Cheng Yi Tong Xiaoyu Research on visual SLAM method of mobile robot based on improved ORB algorithm Dianzi Jishu Yingyong mobile robot visual navigation visual SLAM improved ORB algorithm |
| title | Research on visual SLAM method of mobile robot based on improved ORB algorithm |
| title_full | Research on visual SLAM method of mobile robot based on improved ORB algorithm |
| title_fullStr | Research on visual SLAM method of mobile robot based on improved ORB algorithm |
| title_full_unstemmed | Research on visual SLAM method of mobile robot based on improved ORB algorithm |
| title_short | Research on visual SLAM method of mobile robot based on improved ORB algorithm |
| title_sort | research on visual slam method of mobile robot based on improved orb algorithm |
| topic | mobile robot visual navigation visual SLAM improved ORB algorithm |
| url | http://www.chinaaet.com/article/3000096111 |
| work_keys_str_mv | AT chengyi researchonvisualslammethodofmobilerobotbasedonimprovedorbalgorithm AT tongxiaoyu researchonvisualslammethodofmobilerobotbasedonimprovedorbalgorithm |