基于运动预测的改进ORB-SLAM算法
蒋林,刘林锐,周安娜,韩璐,李平原

Improved ORB-SLAM algorithm based on motion prediction
Lin JIANG,Lin-rui LIU,An-na ZHOU,Lu HAN,Ping-yuan LI
表 1 实验数据序列及主要参数设置
Tab.1 Experimental data series and main parameter settings
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