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 3 相对位姿误差的对比结果

Tab.3 Comparison results of relative pose error

数据序列 RPE1/m RPE2/m η/% RMSE Mean Median Std RMSE Mean Median Std RMSE Mean Median Std fr1/xyz 0.005922 0.004971 0.004163 0.003219 0.005761 0.004795 0.004056 0.003194 2.71 3.54 2.57 0.77 fr1/desk 0.011885 0.008027 0.005570 0.008765 0.008962 0.007158 0.005742 0.005392 24.59 10.82 −3.08 38.4 fr1/floor 0.004036 0.003215 0.002749 0.002441 0.003847 0.003132 0.002694 0.002233 4.68 2.58 2.00 8.51 fr1/desk2 0.010667 0.008624 0.007375 0.006278 0.010499 0.008516 0.006999 0.006140 1.57 1.25 5.22 2.19 fr1/rpy 0.010811 0.007523 0.005508 0.007764 0.009191 0.007171 0.005645 0.005750 14.99 4.67 −2.40 25.94 fr1/room 0.014180 0.008613 0.006216 0.011264 0.011528 0.008074 0.005892 0.008229 18.70 6.25 5.21 26.94