Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 5
1428-1433

Improved key-frame selection algorithm based on ORB-SLAM3

Wu Xiaodong1a
Zhang Songbai1b
Tang Shirong1a
Cao Lijia1c,2
1. a. School of Automation & Information Engineering, b. School of Physics & Electronic Engineering, c. School of Computer Science & Engineering, Sichuan University of Science & Engineering, Yibin Sichuan 644002, China
2. Artificial Intelligence Key Laboratory of Sichuan Province, Yibin Sichuan 643000, China
DOI: 10.19734/j.issn.1001-3695.2022.09.0480

Abstract

In the field of visual simultaneous localization and mapping(VSLAM), the key-frame selection method is mostly heuristic threshold method. This method is prone to the problem of low positioning accuracy. This paper proposed the ORB-SLAM3 algorithm based on improved key-frame selection in response to this problem. Starting from the consideration of key-frame quality, the algorithm adopted the following three standards instead of the heuristic threshold method in ORB-SLAM3. The first was an adaptive key-frame threshold based on geometric constraints to ensure a sufficient number of feature points. The second was the distribution standard based on the principle of image centroid to ensure that the feature points were evenly distributed. The last was the inertial measurement unit(IMU) acceleration state observation. Experimental results on the EuRoc dataset show that the improved algorithm improves the positioning accuracy of ORB-SLAM3 by 9% in monocular inertial and 6% in stereo inertial without using the heuristic threshold. This algorithm shows better robustness and composition ability than ORB-SLAM3.

Foundation Support

四川省科技厅资助项目(2021YFSY0058)
中国高校产学研创新基金资助项目(2021ZYA11002)
桥梁无损检测与工程计算四川省高校重点实验室开放基金资助项目(2021QZJ01)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.09.0480
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 5
Section: Algorithm Research & Explore
Pages: 1428-1433
Serial Number: 1001-3695(2023)05-022-1428-06

Publish History

[2022-12-06] Accepted Paper
[2023-05-05] Printed Article

Cite This Article

伍晓东, 张松柏, 汤适荣, 等. 基于改进关键帧选择的ORB-SLAM3算法 [J]. 计算机应用研究, 2023, 40 (5): 1428-1433. (Wu Xiaodong, Zhang Songbai, Tang Shirong, et al. Improved key-frame selection algorithm based on ORB-SLAM3 [J]. Application Research of Computers, 2023, 40 (5): 1428-1433. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

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.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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