FAST grid detection strategy -> ANMS

ov2slam / ov2slam

OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications

GNU General Public License v3.0

596 stars 130 forks source link

FAST grid detection strategy -> ANMS #3

Closed BAILOOL closed 3 years ago

BAILOOL commented 3 years ago

I have really enjoyed reading your work. Very impressive.

One suggestion to improve the keypoint detection stage is to move away from grid-based detection to ANMS strategies. It produces reasonable improvement over the traditional FAST keypoint detection while being computationally efficient.

P.S. It is a shameless advertisement of work from our group 😆

sunstarchan commented 3 years ago

@BAILOOL Great to know your work about key-points distribution.

ferreram commented 3 years ago

Thanks for your comment. If you feel like adding an option to switch to your ANMS stategie, any PR is welcomed ;-).