Visual Odometry Based on Improved Oriented Features from Accelerated Segment Test and Rotated Binary Robust Independent Elementary Features

To address the problem of system instability during vehicle low-speed driving, we propose improving the visual odometer using ORB (Oriented FAST and Rotated BRIEF) features. The homogeneity of ORB features leads to poor corner point properties of some feature points. When the environmental texture lacks richness, it leads to poor matching performance and low matching accuracy of the feature points. We solve the problem of the corner point properties of feature points using weight calculation for regions with different textures. When the vehicle speed is too low, the continuous frames captured by the camera will overlap significantly, causing large fluctuations in the system error. We use motion model estimation to solve this problem. Meanwhile, experimental validation using the KITTI dataset achieves good results.