Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment

Table 1

Comparison of matching rates of three feature detection and matching algorithms.

Model	Key points	Matches	RANSCK	Match rate (%)
ORB	1000/1004	254	87	34.25
+information entropy	1000/1002	255	86	33.73
+sharpening	1000/983	284	133	46.83