Bi-directional Optical Flow-based Feature Point Tracking Method

Hao Jiang,Li Chen, Naimeng Cang, Shuang Wang

Journal of physics(2023)

引用 0|浏览0
暂无评分
摘要
Abstract In order to improve the robustness of the SLAM system based on the optical flow method, we propose a feature point tracking method with a bi-directional optical flow. The method first couples the forward LK optical flow and the reverse LK optical flow. Then, the feature points are screened and tracked by coupling the bidirectional optical flow. If the screened feature points do not reach the set threshold, they can be supplemented with either Fast points or Harris points. The experimental validation of the above method by VINS-Mono with the EuRoC dataset shows that VINS-Mono using this method significantly improves the accuracy of localization without increasing the running time cost compared with the original VINS-Mono.
更多
查看译文
关键词
tracking,bi-directional,flow-based
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要