| 英文标题 | Research on RGB-D SLAM algorithm based on hierarchical keyframe filtering |
| 作者英文名 | Cheng Yin, Wang Zhichao, Lin Yan |
| 机构英文名 | School of Automation Science & Electrical Engineering,Beihang University,Beijing 100191,China |
| 英文摘要 | Using keyframe group to solve the SLAM algorithm can improve the real-time performance and accuracy of the SLAM system. Due to the high computational complexity, data redundancy and low robustness in the existing keyframe filtering algorithm, this paper proposed a hierarchical filtering method. The method combined rotation index and map-points tracking to select first-group keyframes for back-end optimization and loop-detection, and then used the relative motion distance to select second-group keyframes for 3D reconstruction. Experiments demonstrate that using first-group keyframe selection algorithm can improve the localization and mapping accuracy, and using second-group keyframe selection algorithm can effectively reduce redundant frames and increase 3D reconstruction efficiency. |
| 英文关键词 | RGB-D SLAM; keyframe; 3D reconstruction |