Yufeng Diao, Ruping Cen, Fangzheng Xue, Xiaojie Su
{"title":"ORB-SLAM2S: A Fast ORB-SLAM2 System with Sparse Optical Flow Tracking","authors":"Yufeng Diao, Ruping Cen, Fangzheng Xue, Xiaojie Su","doi":"10.1109/ICACI52617.2021.9435915","DOIUrl":null,"url":null,"abstract":"This paper presents ORB-SLAM2S, a fast and complete simultaneous localization and mapping (SLAM) system based on ORB-SLAM2 for monocular, stereo, and RGB-D cameras. The system works, ensuring accuracy simultaneously, in real-time on standard central processing units (CPU) at a faster speed in small and large indoor and outdoor environments. The system includes a lightweight front-end which is a sparse optical flow method for non-keyframes to avoid the extraction of keypoints and descriptors that allows for high-speed real-time performance. For keyframes, a feature-based method is used to ensure the accurate trajectory estimation almost the same as ORB-SLAM2. The evaluation of famous public sequences shows that our method achieves almost the same state-of-the-art accuracy as ORB-SLAM2 and faster speed performance which is 3~5 times that of ORB-SLAM2, being in most cases the faster SLAM solution. As proved by experiments, the system provides a fast and lightweight visual SLAM while ensuring accuracy for low-cost mobile devices.","PeriodicalId":382483,"journal":{"name":"2021 13th International Conference on Advanced Computational Intelligence (ICACI)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 13th International Conference on Advanced Computational Intelligence (ICACI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICACI52617.2021.9435915","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper presents ORB-SLAM2S, a fast and complete simultaneous localization and mapping (SLAM) system based on ORB-SLAM2 for monocular, stereo, and RGB-D cameras. The system works, ensuring accuracy simultaneously, in real-time on standard central processing units (CPU) at a faster speed in small and large indoor and outdoor environments. The system includes a lightweight front-end which is a sparse optical flow method for non-keyframes to avoid the extraction of keypoints and descriptors that allows for high-speed real-time performance. For keyframes, a feature-based method is used to ensure the accurate trajectory estimation almost the same as ORB-SLAM2. The evaluation of famous public sequences shows that our method achieves almost the same state-of-the-art accuracy as ORB-SLAM2 and faster speed performance which is 3~5 times that of ORB-SLAM2, being in most cases the faster SLAM solution. As proved by experiments, the system provides a fast and lightweight visual SLAM while ensuring accuracy for low-cost mobile devices.