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

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

Huo, Xiaochuang / Zhang, Lei / Liu, Guitao / Du, Zhenjun / Liu, Mingmin

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.

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Document information

Title :

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

Additional title:

Lect. Notes Electrical Eng.

Contributors:

Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Huo, Xiaochuang (author) / Zhang, Lei (author) / Liu, Guitao (author) / Du, Zhenjun (author) / Liu, Mingmin (author)

Conference:

International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021

Published in:

Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 180 ; 1825-1833

Lecture Notes in Electrical Engineering ; 861

Publication date :

2022-03-18

Size :

9 pages

ISBN :

978-981-16-9492-9 , 978-981-16-9491-2

ISSN :