The ORB-SLAM2 based on the constant velocity model is difficult to determine search window of reprojection map points when objects are in variable motion, which leads a false matching, with an inaccurate pose estimation or failed tracking. To address challenge above, new method feature point matching proposed this paper, combines reverse optical flow method. First, extended model, and expanded ...

Abstract. Improving the performance of feature matching plays a key role in computers vision and photogrammetry applications, such as fast image recognition, Structure from Motion (SFM), aerial triangulation, Visual Simultaneous Localization Mapping (VSLAM), etc., where RANSAC algorithm is frequently used for outlier detection; note that most widely robust approach computer detection. It known ...