Fast Scene Reconstruction Based on Improved SLAM

摘要

Simultaneous location and mapping(SLAM)plays the crucial role in VR/AR application,autonomous robotics navigation,UAV remote control,etc.The traditional SLAM is not good at handle the data acquired by camera with fast movement or severe jittering,and the efficiency need to be improved.The paper proposes an improved SLAM algorithm,which mainly improves the real-time performance of classical SLAM algorithm,applies KDtree for efficient organizing feature points,and accelerates the feature points correspondence building.Moreover,the background map reconstruction thread is optimized,the SLAM parallel computation ability is increased.The color images experiments demonstrate that the improved SLAM algorithm holds better realtime performance than the classical SLAM.