Jinxing Niu1,*, Qingsheng Hu1, Yi Niu1, Tao Zhang1, Sunil Kumar Jha2
CMC-Computers, Materials & Continua, Vol.68, No.3, pp. 3713-3724, 2021, DOI:10.32604/cmc.2021.017418
- 06 May 2021
Abstract Real-time dense reconstruction of indoor scenes is of great research value for the application and development of service robots, augmented reality, cultural relics conservation and other fields. ORB-SLAM2 method is one of the excellent open source algorithms in visual SLAM system, which is often used in indoor scene reconstruction. However, it is time-consuming and can only build sparse scene map by using ORB features to solve camera pose. In view of the shortcomings of ORB-SLAM2 method, this article proposes an improved ORB-SLAM2 solution, which uses a direct method based on light intensity to solve the… More >
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