Version 1
: Received: 21 July 2023 / Approved: 21 July 2023 / Online: 21 July 2023 (07:07:17 CEST)
How to cite:
Wu, D.; Ma, Z.; Xu, W.; He, H.; Li, Z. Visual Odometer Based on Image Region Texture Weights of ORB Features. Preprints2023, 2023071477. https://doi.org/10.20944/preprints202307.1477.v1
Wu, D.; Ma, Z.; Xu, W.; He, H.; Li, Z. Visual Odometer Based on Image Region Texture Weights of ORB Features. Preprints 2023, 2023071477. https://doi.org/10.20944/preprints202307.1477.v1
Wu, D.; Ma, Z.; Xu, W.; He, H.; Li, Z. Visual Odometer Based on Image Region Texture Weights of ORB Features. Preprints2023, 2023071477. https://doi.org/10.20944/preprints202307.1477.v1
APA Style
Wu, D., Ma, Z., Xu, W., He, H., & Li, Z. (2023). Visual Odometer Based on Image Region Texture Weights of ORB Features. Preprints. https://doi.org/10.20944/preprints202307.1477.v1
Chicago/Turabian Style
Wu, D., Haifeng He and Zhenlin Li. 2023 "Visual Odometer Based on Image Region Texture Weights of ORB Features" Preprints. https://doi.org/10.20944/preprints202307.1477.v1
Abstract
ORB (Oriented FAST and Rotated Brief) features are the most commonly used features in visual SLAM and visual odometry that have high computational speed, and rotation scale invariance. However, due to the homogenization of ORB features, the corner properties of specific features are poor in some artificial environments, and it can lead to poor matching performance when the environmental texture is not rich. The underlying reason is that the pixel grayscale changes in the less-richly textured regions on the image are not obvious, leading to a certain degree of mis-matching in the matching process. At the same time, when the camera motion speed is low, there is much overlap between adjacent frames. This results in minimal or almost no changes in the projection of feature points, and the system is highly sensitive to errors, In this case, even small errors can cause significant fluctuations in the calculation results. In response to the above issues, an improved feature point method for stereo vision mileage calculation is proposed to solve the problem of system stability deterioration when cameras move at low speeds in artificial envi-ronments. Firstly, weight calculation based on different texture regions is used to solve the problem of low corner properties of feature points caused by environmental texture differences. Then, keyframes are used for motion model estimation to improve the system's stability under low-speed motion. The experimental results of the dataset showed that the key frame rate was optimal between 10% and 12%, and the positioning accuracy was higher than these open-source systems compared with three common open-source VO systems.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
