新闻 · arXiv cs.CV

Desc++: Efficient Descriptor Enhancement for Data Association in Existing Visual SLAM Systems

Reliable visual data association is fundamental to visual SLAM (V-SLAM), as it directly determines the quality of the camera pose estimation and map consistency. However, the handcrafted descriptors used by most mature real-time systems degrade under illumination and viewpoint changes, while learning-based front-ends that address this weakness typically require replacing the extraction-and-matching pipeline and introduce substantial computational overhead. Descriptor enhancement offers a…