基于运动预测的改进ORB-SLAM算法
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蒋林,刘林锐,周安娜,韩璐,李平原
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Improved ORB-SLAM algorithm based on motion prediction
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Lin JIANG,Lin-rui LIU,An-na ZHOU,Lu HAN,Ping-yuan LI
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表 1 实验数据序列及主要参数设置 |
Tab.1 Experimental data series and main parameter settings |
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数据序列 | Dn/s | Tr/m | vd/(m·s−1) | ωa/((°)·s−1) | 帧数 | kp | kd | Re | sset | fr1/xyz | 30.09 | 7.112 | 0.244 | 8.920 | 798 | 2.75 | 1.12 | 0.45 | 0.96 | fr1/rpy | 27.67 | 1.664 | 0.062 | 50.147 | 723 | 2.80 | 1.14 | 0.45 | 0.90 | fr1/desk | 23.40 | 9.263 | 0.413 | 23.327 | 613 | 2.80 | 1.15 | 0.45 | 0.81 | fr1/room | 48.90 | 15.989 | 0.334 | 13.425 | 1362 | 2.35 | 1.02 | 0.45 | 0.92 | fr1/desk2 | 24.86 | 10.161 | 0.426 | 29.882 | 640 | 2.75 | 1.13 | 0.45 | 0.85 | fr1/floor | 49.87 | 12.569 | 0.258 | 15.071 | 1242 | 2.75 | 1.12 | 0.45 | 0.78 |
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