A Real-Time Map Restoration Algorithm Based on ORB-SLAM3

A Real-Time Map Restoration Algorithm Based on ORB-SLAM3

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In the monocular visual-inertia mode of ORB-SLAM3, the insufficient excitation obtained by the inertial measurement unit (IMU) will lead to a long system initialization time.Hence, the trajectory can be easily lost and the map creation will not be completed.To solve this problem, a fast map restoration method is proposed in R/C Helicopter this paper, which adresses the problem of insufficient excitation of IMU.Firstly, the frames before system initialization are quickly tracked using bag-of-words and maximum likelyhood perspective-n-point (MLPNP).

Then, the grayscale histogram is used to accelerate the loop closure detection to reduce the time consumption caused by the map restoration.After experimental verification Bosch PCR9A5B90 Serie 6 Built In 92cm 5 Burners Gas Hob Stainless Steel on public datasets, the proposed algorithm can establish a complete map and ensure real-time performance.Compared with the traditional ORB-SLAM3, the accuracy improved by about 47.51% and time efficiency improved by about 55.

96%.