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 4 每帧处理时间的对比情况
Tab.4 Comparison of processing times per frame
数据序列 t1/ms t2/ms
Mean Median Mean Median
fr1/xyz 26.3672 26.4735 25.2066 25.4335
fr1/desk 24.7731 25.4751 27.8914 26.8529
fr1/floor 21.2646 20.9751 20.4787 19.5910
fr1/desk2 31.1467 30.5623 29.4175 28.6211
fr1/rpy 26.8241 26.6784 24.0751 24.2393
fr1/room 25.4631 22.5552 24.2438 21.6065