Chang Zhao1, Wei Sun1,3,*, Xiaorui Zhang2,3, Xiaozheng He4, Jun Zuo1, Wei Zhao1
Computer Systems Science and Engineering, Vol.45, No.2, pp. 1083-1094, 2023, DOI:10.32604/csse.2023.032786
Abstract The ORB-SLAM2 based on the constant velocity model is difficult to determine the search window of the reprojection of map points when the objects are in variable velocity motion, which leads to a false matching, with an inaccurate pose estimation or failed tracking. To address the challenge above, a new method of feature point matching is proposed in this paper, which combines the variable velocity model with the reverse optical flow method. First, the constant velocity model is extended to a new variable velocity model, and the expanded variable velocity model is used to provide the initial pixel shifting for… More >
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