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Published at November 27

ORB-SLAM3AB: Augmenting ORB-SLAM3 to Counteract Bumps with Optical Flow Inter-frame Matching

cs.RO

Released Date: November 27, 2024

Authors: Yangrui Dong¹, Weisheng Gong¹, Qingyong Li¹, Kaijie Su¹, Chen He¹, Z. Jane Wang²

Aff.: ¹Information Science Northwest University Xi'an China; ²Department of Electrical and Computer Engineering The University of British Columbia Vancouver, BC V6T1Z4, Canada

Arxiv: http://arxiv.org/abs/2411.18174v1

Sequence	livox-slam		CT-ICP		DSO		ORB-SLAM3		ORB-SLAM3AB(ours)
	ATE	RPE	ATE	RPE	ATE	RPE	ATE	RPE	ATE	RPE
low-speed-bumpy-
sunny-day	1.845	0.951	1.294	0.568	x	x	x	x	0.228	0.099
low-speed-bumpy-
sunny-night	1.901	0.960	1.852	0.686	0.110	0.121	0.039	0.041	0.038	0.040
high-speed-bumps
snowy-day	38.503	10.920	44.199	8.444	181.459	8.044	4.856	2.035	4.652	0.884
high-speed-bumps
snowy-night	33.675	12.819	53.614	7.300	x	x	7.643	0.700	1.791	0.283