ALGD-ORB: An improved image feature extraction algorithm with adaptive threshold and local gray difference.

ABSTRACT: Simultaneous Localization and Mapping (SLAM) technology is crucial for achieving spatial localization and autonomous navigation. Finding image features that are representative presents a key challenge in visual SLAM systems. The widely used ORB (Oriented FAST and Rotating BRIEF) algorithm achieves rapid image feature extraction. However, traditional ORB algorithms face issues such as dense, overlapping feature points, and imbalanced distribution, resulting in mismatches and redundancies. This paper introduces an image feature extraction algorithm called Adaptive Threshold and Local Gray Difference-ORB(ALGD-ORB) to address these limitations. Specifically, an adaptive threshold is employed to enhance feature point detection, and an improved quadtree method is used to homogenize feature point

SUBMITTER: Chu G 

PROVIDER: S-EPMC10593235 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature