公维思,周绍磊,吴修振,刘刚

• 1:海军航空工程学院

摘要(Abstract)：

针对视觉ORB-SLAM中的特征点提取过程,提出一种改进的FAST特征点检测方法。在ORB-SLAM过程中,由于光照和周围环境信息的不确定性,当环境对比度下降时,易造成特征点数量急剧减少从而造成SLAM过程的失败。针对上述问题,基于图像的对比度信息,提出一种自适应阈值的FAST特征点检测方法,利用图像的对比度自适应调整特征点检测时的阈值,当图像对比度下降时依然能够保证特征点检测的数量,大大提高了ORB-SLAM的鲁棒性和适应性。对提出的方法进行了实验验证,结果表明该方法切实可行,具有较高的实用价值。

关键词(KeyWords)： ORB-SLAM;特征点检测;图像对比度;自适应阈值;SLAM过程;特征点提取

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金资助项目(61004002)~~

作者(Author): 公维思,周绍磊,吴修振,刘刚

DOI: 10.16652/j.issn.1004-373x.2018.06.013

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