By: Qian Tang, Xiaojun Bai, Yanfang Fu, Shifeng Zhao, Liuhua Di
Abstract: The performance of visual SLAM is strongly influenced by the quality of front-end feature detection and correspondence matching. To improve ORB-SLAM3 in weak-texture environments, under feature clustering, and in the presence of mismatches, this paper optimizes the front-end pipeline in three stages. First, an adaptive threshold is introduced into FAST detection to improve keypoint extraction in weak-texture regions. Second, an improved quadtree-based distribution strategy is adopted to reduce feature over-concentr…
Keywords: Visual SLAM; Feature Extraction and Matching; Quad-Tree Coding; PROSAC Algorithm