ORB-SLAM3 loopback detection acceleration method based on grey level histogram

The invention discloses a grey level histogram-based ORB-SLAM3 loopback detection acceleration method, which comprises the following steps of: S1, when a key frame is inserted into a loopback detection thread by a local mapping thread, extracting the grey level histogram of the key frame, and calcul...

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Bibliographic Details
Main Authors LIN QINGLEI, HU WEIWEI, QIN HUIBIN
Format Patent
LanguageChinese
English
Published 16.09.2022
Subjects
CALCULATING
COMPUTING
COUNTING
PHYSICS
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Summary:The invention discloses a grey level histogram-based ORB-SLAM3 loopback detection acceleration method, which comprises the following steps of: S1, when a key frame is inserted into a loopback detection thread by a local mapping thread, extracting the grey level histogram of the key frame, and calculating information such as standard deviation and mean value of the grey level histogram; s2, screening out high-quality loopback candidate key frames at the front end of loopback detection; s3, carrying out loopback feasibility verification on the loopback candidate key frames; and S4, loopback correction is carried out at the back end of loopback detection. By adopting the technical scheme of the invention, the input key frame is pre-screened by calculating lightweight image gray histogram information, so that the quality of the input key frame for loopback verification is improved, the number of times of invalid calculation caused by low quality of the key frame is reduced, and the real-time performance of an ORB
Bibliography:Application Number: CN202210599116