Abstract
In this paper, an algorithm based on Inliers tracking statistics is proposed to solve the problem of motion-blur interference of RGB-D SLAM front-end pose estimation and back-end optimization. Firstly, the feature extraction and matching of the RGB image are carried out and the inliers is obtained by the RANSAC algorithm. Then, the blur image affected by the camera motion is removed by the tracking and statistics of the inliers quantity, and the camera position is solved by the nonlinear optimization method. Finally, the motion trajectory and the three-dimensional dense point cloud are plotted by and optimized global pose. Experimental results based on standard test set show that the algorithm based on Inliers tracking can improve the robustness and precision of SLAM system.
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