Research on Modification of the Initial Pose Estimation Algorithm for ORB-SLAM2

ORB-SLAM2 has been widely used in computer vision applications. To overcome the limitations in the initial pose estimation step in complex scenes, this paper proposes an adaptive threshold strategy to modify the constant velocity motion model. In addition, the RANSAC strategy is incorporated into initial pose estimation. The experiments on the complex EuRoC public dataset show that the modified strategy can improve the location and pose estimation of the ORB-SLAM2 system in terms of efficiency and accuracy to some extent.