Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 10
3174-3178,3185

Feature tracking algorithm for removing motion blur by improving optical flow incorporating IMU

Luan Xiaozhena
Wei Guoliangb
Cai Jiea
a. College of Science, b. Business School, University of Shanghai for Science & Technology, Shanghai 200093, China
DOI: 10.19734/j.issn.1001-3695.2022.02.0075

Abstract

In order to improve the accuracy and efficiency of the feature point matching, this paper proposed a novel feature point matching algorithm in terms of vision and inertial measurement unit(IMU) fusion. Firstly, the algorithm calculated the point diffusion function by using the motion information of IMU to remove motion blur, and improved the feature point matching rate. Secondly, based on LK optical flow method, this paper introduced gradient error and used L1 parametric to simulate sparse noise. Furthermore, the feature point position by using IMU was the initial value of the algorithm, and then this paper used BB step to improve the efficiency of the algorithm. Finally, the comparison experiments show that the efficiency and accuracy of the algorithm are better than the LK optical flow method. Especially, the algorithm improves the localization accuracy and robustness of the VINS-Mono framework on the dataset EuRoC.

Foundation Support

上海市“科技创新行动计划”国内科技合作项目(20015801100)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.02.0075
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 10
Section: Technology of Graphic & Image
Pages: 3174-3178,3185
Serial Number: 1001-3695(2022)10-047-3174-05

Publish History

[2022-04-27] Accepted Paper
[2022-10-05] Printed Article

Cite This Article

栾小珍, 魏国亮, 蔡洁. 融合IMU去除运动模糊的改进光流匹配算法 [J]. 计算机应用研究, 2022, 39 (10): 3174-3178,3185. (Luan Xiaozhen, Wei Guoliang, Cai Jie. Feature tracking algorithm for removing motion blur by improving optical flow incorporating IMU [J]. Application Research of Computers, 2022, 39 (10): 3174-3178,3185. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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