Study on Optimization Method of Visual Odometry Based on Feature Matching

Table 1

Comparison of matching performance of different algorithms.

Algorithm	Matching pairs	Correct matching pairs	Accuracy (%)	Running time (s)
OURS	54	49	0.91	0.046
RANSAC [8]	49	38	0.77	0.121
TSAC [34]	25	21	0.84	0.054
FLANN [35]	170	110	0.65	0.075
GMS [36]	47	39	0.83	0.048
KNN [37]	18	11	0.61	0.063
LPM [38]	85	69	0.81	0.050