研究了基于ORB的特征点法和半稠密直接法在视觉特征丰富以及视觉特征缺乏环境当中的实时性、精确性和鲁棒性.实验结果表明,基于ORB的特征点法在视觉特征丰富的环境中比半稠密直接法的实时性和精确性好,而在视觉特征缺乏的环境中,半稠密直接法的鲁棒性更好.%This paper discussed real -time, accuracy and robustness of ORB -based feature point method andsemi -dense direct method in abundant condition and barren condition of visual features.The experimental resultsshow that in abundant condition of visual features, ORB -based feature point method is better in real -time andaccuracy than semi -dense direct method, but in barren condition of visual features, robustness of semi -densedirect method is better.
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