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 2 绝对轨迹误差的对比结果

Tab.2 Comparison results of absolute trajectory error

数据序列 ATE1/m ATE2/m η/% RMSE Mean Median Std RMSE Mean Median Std RMSE Mean Median Std fr1/xyz 0.010345 0.008583 0.007183 0.005775 0.009001 0.007539 0.006632 0.004917 13.12 12.16 7.67 14.80 fr1/desk 0.020537 0.014287 0.010356 0.014754 0.014302 0.011750 0.009703 0.008155 30.35 17.75 6.30 44.72 fr1/floor 0.019249 0.014258 0.011476 0.012933 0.012215 0.010794 0.010750 0.005720 36.54 24.29 6.32 55.77 fr1/desk2 0.030504 0.023948 0.018388 0.018893 0.021122 0.018105 0.016830 0.010880 30.75 24.39 8.47 42.41 fr1/rpy 0.029052 0.021588 0.016343 0.019442 0.019263 0.015731 0.012500 0.011117 33.69 27.13 13.51 42.81 fr1/room 0.081456 0.076147 0.074225 0.028925 0.036980 0.031801 0.028675 0.018874 54.60 58.23 60.36 34.74