Research on Improved RGB-D SLAM Algorithm based on ORB Feature

摘要：

　　The research content of this paper is the contrast experiment of the improved RGB-D SLAM algorithm and the classical RGB-D SLAM algorithm, RGB-D SLAM V2, ORB SLAM algorithm in their real-time feature and accuracy, to verify the effectiveness and superiority of the improved algorithm. Firstly, the improved front-end, loop detection and back-end modules are integrated into the classical RGB-D SLAM framework to form an improved RGB-D SLAM system. Then the TUM data set is simulated, and the evaluation criteria are front-end time, trajectory error, and building visibility. Experimental results on standard datasets show that the improved algorithm can achieve even better results than the existing mature algorithms.

关键词： SLAM Depth camera Real time Accuracy

作者: Binbin Xu Pengyuan Liu Junning Zhang

作者单位: The Army Engineering University of PLA, Heibei 050003, China

会议类型: 国际会议

会议名称: 2018 3rd International Conference on Mechatronics and Information Technology (ICMIT 2018) (2018第三届机电与信息技术国际会议)

会议地点: 成都

会议语种:英文

页码: 1-5

在线出版日期: 2018-10-30（万方平台首次上网日期，不代表论文的发表时间）