ORB-特征点提取代码比较

ORB特征提取代码测试

1. ORB-SLAM2 vsICE-BA vs openvslam

ICE-BA和openvslam都是在原始的ORB-SLAM2基础上进行的优化，主要想保留原有的基于四叉树令特征点均匀分布的操作，

• ORB-SLAM2: 对特征点提取进行了均匀化处理，没有对性能的优化
• ICE-BA: Look-Up-Table优化了描述子计算+ ARM NEMO指令集加速
• openvslam: 进行了SIMD指令集加速

2. 实际测试

测试数据选取的是EuRoc数据集中的图片，对整个序列提取ORB特征取平均值计算时间

ORB-SLAM2:

Process image: 3682 of total 3682
Total time: 117.968s, Average time: 32.0392ms/image

#更换ros版本OpenCV3
Process image: 3682 of total 3682
Total time: 108.234s, Average time: 29.3955ms/image

ICE-BA:

Process image: 3682 of total 3682
Total time: 75.9864s, Average time: 20.6373ms/image

#更换ros版本OpenCV3
Process image: 3682 of total 3682
Total time: 69.3227s, Average time: 18.8275ms/image

openvslam:未开启SSE加速

Process image: 3682 of total 3682
Total time: 94.2699s, Average time: 25.6029ms/image

openvslam:开启SSE加速

Process image: 3682 of total 3682
Total time: 89.493s, Average time: 24.3055ms/image
#更换ros版本OpenCV3
Total time: 83.7194s, Average time: 22.7375ms/image

3.分析

ICE-BA优化的比较彻底，速度比较粗暴，以后还是拿ICE-BA的来用吧，openvslam的感觉比较奇怪，SSE似乎没起作用，估计配置问题.