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Article

A Real-Time Map Restoration Algorithm Based on ORB-SLAM3

by
Weiwei Hu
1,*,
Qinglei Lin
1,
Lihuan Shao
1,
Jiaxu Lin
2,
Keke Zhang
1 and
Huibin Qin
1
1
College of Electronics and Information, Hangzhou Dianzi University, Hangzhou 310018, China
2
School of Medicine, University College Dublin, Belfield, D04 V1W8 Dublin, Ireland
*
Author to whom correspondence should be addressed.
Appl. Sci. 2022, 12(15), 7780; https://doi.org/10.3390/app12157780
Submission received: 14 June 2022 / Revised: 29 July 2022 / Accepted: 29 July 2022 / Published: 2 August 2022
(This article belongs to the Section Robotics and Automation)
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Abstract

In the monocular visual-inertia mode of ORB-SLAM3, the insufficient excitation obtained by the inertial measurement unit (IMU) will lead to a long system initialization time. Hence, the trajectory can be easily lost and the map creation will not be completed. To solve this problem, a fast map restoration method is proposed in this paper, which adresses the problem of insufficient excitation of IMU. Firstly, the frames before system initialization are quickly tracked using bag-of-words and maximum likelyhood perspective-n-point (MLPNP). Then, the grayscale histogram is used to accelerate the loop closure detection to reduce the time consumption caused by the map restoration. After experimental verification on public datasets, the proposed algorithm can establish a complete map and ensure real-time performance. Compared with the traditional ORB-SLAM3, the accuracy improved by about 47.51% and time efficiency improved by about 55.96%.
Keywords: visual-inertial SLAM; ORB-SLAM3; initialization; tracking; bag-of-words; MLPNP; loop closure detection; grayscale histogram visual-inertial SLAM; ORB-SLAM3; initialization; tracking; bag-of-words; MLPNP; loop closure detection; grayscale histogram

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MDPI and ACS Style

Hu, W.; Lin, Q.; Shao, L.; Lin, J.; Zhang, K.; Qin, H. A Real-Time Map Restoration Algorithm Based on ORB-SLAM3. Appl. Sci. 2022, 12, 7780. https://doi.org/10.3390/app12157780

AMA Style

Hu W, Lin Q, Shao L, Lin J, Zhang K, Qin H. A Real-Time Map Restoration Algorithm Based on ORB-SLAM3. Applied Sciences. 2022; 12(15):7780. https://doi.org/10.3390/app12157780

Chicago/Turabian Style

Hu, Weiwei, Qinglei Lin, Lihuan Shao, Jiaxu Lin, Keke Zhang, and Huibin Qin. 2022. "A Real-Time Map Restoration Algorithm Based on ORB-SLAM3" Applied Sciences 12, no. 15: 7780. https://doi.org/10.3390/app12157780

APA Style

Hu, W., Lin, Q., Shao, L., Lin, J., Zhang, K., & Qin, H. (2022). A Real-Time Map Restoration Algorithm Based on ORB-SLAM3. Applied Sciences, 12(15), 7780. https://doi.org/10.3390/app12157780

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