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

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Average absolute trajectory error difference/m</td><td class="align_center">ORB-SLAM2</td><td class="align_center">The proposed algorithm</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Desk</td><td class="align_center">0.057630667</td><td class="align_center">0.029899333</td></tr><tr><td class="align_left">360</td><td class="align_center">0.113049667</td><td class="align_center">0.072683167</td></tr><tr><td class="align_left">Room</td><td class="align_center">0.229222167</td><td class="align_center">0.111185333</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Average absolute trajectory error.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment 