Fast stereo visual odometry based on LK optical flow and ORB-SLAM2
Abstract
A stereo visual odometry algorithm based on the fusion of optical flow tracking and feature matching called LK-ORB-SLAM2 was proposed. In LK-ORB-SLAM2, the operation of optical flow tracking is introduced to adjust the intensive and time-consuming operation of feature matching. This requires solving a key issue: how to solve the problem of losing feature points during optical flow tracking. For this reason, an adaptive matching-frame insertion...
Paper Details
Title
Fast stereo visual odometry based on LK optical flow and ORB-SLAM2
Published Date
Jun 11, 2020
Journal
Volume
28
Issue
6
Pages
2005 - 2014
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History