| Title: | GS2-6 Study on the ORB algorithm in the application of Monocular SLAM |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 240-243 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS2-6 |
| Author(s): | Jiwu Wang, Shunkai Zheng, Sugisaka Masanori |
| Publication Date: | January 29, 2016 |
| Keywords: | SLAM, ORB, Monocular Vision；Loop closing |
| Abstract: | In view of reducing the accumulative error, we perform loop closing based on PTAM in our Monocular SLAM.As this method relies on extracting natural environment features, we chose ORB algorithm as the feature extraction and matching. We demonstrate that ORB features have enough recognition power to enable place recognition from severe viewpoint change and they are so fast to extract and match (without needing multi-threading or GPU acceleration) that enable real time accurate tracking and mapping. Through to outdoor scene experiment, we validate the algorithm performance. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS2-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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