Application of an Improved Fast Corner Detection Algorithm in ORB-SLAM2

	Application of an Improved Fast Corner Detection Algorithm in ORB-SLAM2
	Huo, Xiaochuang 3; Zhang L(张雷)2; Liu GT(刘贵涛)1; Du ZJ(杜振军)2; Liu MM(刘明敏)2
	2021
会议日期	September 24-26, 2021
会议地点	Changsha, China
关键词	ORB-SLAM2 FAST Localization
页码	1825-1833
英文摘要	Visual SLAM provides navigation and positioning functions for mobile robots. The accuracy of positioning has a profound impact on the quality of the robot's work. It is of great significance to study SLAM positioning. ORB-SLAM2 is a visual SLAM framework with excellent positioning performance. It uses FAST algorithm as feature detection module. After a large number of experiments, this paper finds that the FAST algorithm has the defect of detecting false corners, and believes that ORB-SLAM2 has room to improve positioning accuracy. After analyzing the causes of false corners, this paper proposes an improved FAST corner detection algorithm, called FAST-Ring corner detection algorithm. The FAST-Ring corner detection algorithm constructs a new feature extraction template, and the point is considered as a corner when it meets the template. In order to verify the effectiveness of the FAST-Ring algorithm, a comparison experiment of feature extraction from a single image and a comparison experiment of ORB-SLAM2 positioning accuracy are performed in this paper. It is experimentally verified that the FAST-Ring algorithm proposed in this paper can filter out some false corner points extracted by the original FAST algorithm, and the average absolute positioning error of ORB-SLAM2 using KITTI dataset is reduced by 5 cm compared with the original ORB-SLAM2. The experimental results prove that the performance of the FAST-Ring algorithm is better than the FAST algorithm.
产权排序	3
会议录	Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021
会议录出版者	Springer Science and Business Media Deutschland GmbH
会议录出版地	Berlin
语种	英语
ISSN号	1876-1100
ISBN号	978-981-16-9491-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/31033]
专题	沈阳自动化研究所_其他
通讯作者	Huo, Xiaochuang
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.SIASUN Robot & Automation Co., Ltd., Shenyang, China 3.Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China
推荐引用方式 GB/T 7714	Huo, Xiaochuang,Zhang L,Liu GT,et al. Application of an Improved Fast Corner Detection Algorithm in ORB-SLAM2[C]. 见:. Changsha, China. September 24-26, 2021.