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 4 每帧处理时间的对比情况 |
| Tab.4 Comparison of processing times per frame |
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| 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 |
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