Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complementary Filter to Enhance Indoor Mini-Drone Localization under Varying Conditions

Round 1

Reviewer 1 Report

My suggestions for Authors:

1. introduction, line 91-98, please add more information abut novelty of paper.

2. discussion, please compare your solution in relation to state of art, why your solution is better? What is a difference between your solution and papers from references?

3. conclusion, please add information about error of proposed method (see figure 15).

 

Author Response

Dear Reviewer 1,

Thank you for your comments.

I have added more information abut novelty of paper and discussed about why my solution is better and what is different between my solution and others. (in line 55-190).

Also in line 405-410, I have added more information about error of proposed method (figure 15).

You can track my correction on PDF file

Thanks,

Amin

 

Author Response File: Author Response.pdf

Reviewer 2 Report

Could you please elaborate on references 5-7 and 13-16.

Could you please elaborate on references 10-12.

Could you please elaborate on references 17-19. Please give details on challenges. Is this study related to overcome those challenges.

On title of 2.2 it would be better to use the open form of the abbreviation. 

There are statements in 2.2 section first two paragraphs which need reference. The references given in the end of third paragraph seems related to the previous paragraphs. 

Up to section 2.3, the given text is related to literature. The methodology starts with 2.3. You may decide to rearrange the structure to reflect your own work. 

Comparison of the results with the literature need more clarification and focus. Please provide more numeric comparison means of the results of the study.

 

The quality use of language is average.  It may benefit reevaluation.

Author Response

Dear Reviewer 2
Thank you for your comments.
I have elaborated on references (5-7, 13-16, 10-12 and 17-19). (line 27-103)
Corrected title of 2.2 form and add the references in first two paragraphs.
and I have added more information about my work in literature and explain why my solution is better and what is different between my work and others. (155-190)
Also in line 405-410, I have added more information comparison of the result of proposed method ,and clarified figure 15.

Also I improved the English. You can track my correction on PDF file

Regards,
Amin

 

Author Response File: Author Response.pdf

Reviewer 3 Report

The article is well-written and clearly explained. Authors proposed a method for combining existing methods to achieve improved localization accuracy and enhance autonomous mini-drone indoor navigation. The proposed approach compounds ORB-SLAM2 and SVO algorithms with an ACF to improve the position estimation.

The issue of location and positioning without GPS is well known. It is necessary to develop solutions in this area.

The literature review should be extended, especially with the results of positioning using IMU. Although the authors are going to write about IMU in their future works (discussion section), a lot has already been done on this subject and it is worth to write about it, especially in the introduction part.

The methodology is well written. Authors presented interesting method that gives promising results. The conclusions are supported by the results.

Edition errors:

Line 98: /to/ twice repeated. 

Line 273: (see Figure 10 – closing parenthesis is missing.

Line 283: However, The results – small letter /the/ should appear.

Author Response

Dear Reviewer 3,

Thank you for your comments.

I have corrected line Line 98, 273, 283 (to/ twice repeated, closing parenthesis and small letter /the).

You can track my correction on PDF file

Regards,

Amin

 

Author Response File: Author Response.pdf