计算机与数字工程2026，Vol.54Issue(4)：939-944,6.DOI:10.3969/j.issn.1672-9722.2026.04.006
基于ORB特征的改进误匹配剔除算法
Improved Error Matching Elimination Algorithm Based on ORB Feature
叶子恒 1柳祥乐1
作者信息
- 1. 湖北汽车工业学院电气与信息工程学院 十堰 442002
- 折叠
摘要
Abstract
An improved eliminating mismatching algorithm is proposed to solve the problem of ineffiency and mismatching in complex environment when ORB-SLAM is used in feature registration algorithm.First,when extracting orb feature points,the glob-al threshold of algorithm is changed to adaptive threshold to improve the speed of feature point extraction.Then,the grid based on motion statistics(GMS)algorithm is used for reducing the loss time of processing key frames,and the progressive uniform sampling(PROSAC)algorithm is used for correcting and optimizing the situation where GMS algorithm is prone to mismatch.The experimen-tal results show that this method can effectively eliminate the mismatches of GMS algorithm,which can compare with the random sampling agreement(RANSAC)algorithm at the same time.Under the same conditions,the average time consumption is reduced by 81.56％.Finally,the method is integrated into the binocular sparse stereo matching module of ORB-SLAM3.Compared with the original system,this scheme has higher positioning accuracy and stronger real-time performance.关键词
自适应阈值/基于网格的运动统计/随机抽样一致/误匹配剔除/ORB-SLAM3Key words
adaptive threshold/GMS/PROSAC/mismatch elimination/ORB-SLAM3分类
信息技术与安全科学引用本文复制引用
叶子恒,柳祥乐..基于ORB特征的改进误匹配剔除算法[J].计算机与数字工程,2026,54(4):939-944,6.
