With the development of computer technology and the increasing data processing capability and speed, the robot vision-based SLAM problem is gradually emerging. In this paper, based on the traditional vision odometry implementation scheme, the ORB feature extraction algorithm is used to extract the feature points of the image and calculate the BRIEF descriptors, and then a combination of PnP and improved ICP is used to solve the bit pose of the camera. In order to improve the accuracy and stability of the algorithm, the PROSAC algorithm is used to reject the mis-match in this paper. Finally, the algorithm is tested using the public dataset of TUM, which proves that the algorithm has faster computational speed and stability.


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    Title :

    Study on visual odometry and optimization of SLAM system


    Contributors:


    Publication date :

    2022-10-12


    Size :

    1965616 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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