Research on visual SLAM method of mobile robot based on improved ORB algorithm

摘要

Taking mobile robot visual navigation as the application background, an improved ORB algorithm is proposed to solve the problems of feature points unevenly distributing and too many redundant features in visual SLAM. Firstly, the scale-space pyramid of each image is meshed to increase the scale information. Secondly, feature points are detected, using improved FAST corner points adaptive extraction and setting region of interest. Thirdly, non-maximum suppression method is used to suppress the output low threshold feature points. Finally, feature points variance values based on region image is used to evaluate of distribution feature points in images. Experiments verify that the improved ORB algorithm has more uniform distribution, fewer output overlapping feature points and shorter run time.