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

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Average relative 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">0.0362615</td><td class="align_center">0.029899</td></tr><tr><td class="align_left">360</td><td class="align_center">0.1534532</td><td class="align_center">0.078611</td></tr><tr><td class="align_left">Room</td><td class="align_center">0.1592775</td><td class="align_center">0.092167</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

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

Mathematical Problems in Engineering

tab3

Table 3

Table 3: Improved ORB-SLAM2 Algorithm Based on Information Entropy and Image Sharpening Adjustment 