Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment
Joint Authors
Luo, Kaiqing
Lin, Manling
Wang, Pengcheng
Zhou, Siwei
Yin, Dan
Zhang, Haolan
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-23
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Simultaneous Localization and Mapping (SLAM) has become a research hotspot in the field of robots in recent years.
However, most visual SLAM systems are based on static assumptions which ignored motion effects.
If image sequences are not rich in texture information or the camera rotates at a large angle, SLAM system will fail to locate and map.
To solve these problems, this paper proposes an improved ORB-SLAM2 algorithm based on information entropy and sharpening processing.
The information entropy corresponding to the segmented image block is calculated, and the entropy threshold is determined by the adaptive algorithm of image entropy threshold, and then the image block which is smaller than the information entropy threshold is sharpened.
The experimental results show that compared with the ORB-SLAM2 system, the relative trajectory error decreases by 36.1% and the absolute trajectory error decreases by 45.1% compared with ORB-SLAM2.
Although these indicators are greatly improved, the processing time is not greatly increased.
To some extent, the algorithm solves the problem of system localization and mapping failure caused by camera large angle rotation and insufficient image texture information.
American Psychological Association (APA)
Luo, Kaiqing& Lin, Manling& Wang, Pengcheng& Zhou, Siwei& Yin, Dan& Zhang, Haolan. 2020. Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1195371
Modern Language Association (MLA)
Luo, Kaiqing…[et al.]. Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1195371
American Medical Association (AMA)
Luo, Kaiqing& Lin, Manling& Wang, Pengcheng& Zhou, Siwei& Yin, Dan& Zhang, Haolan. Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1195371
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195371