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In simultaneous localization and mapping (SLAM), image feature point matchingprocess consume a lot of time. The capacity of low-power systems such asembedded systems is almost limited. It is difficult to ensure the timelyprocessing of each image information. To reduce time consuming when matchingfeature points in SLAM, an algorithm of using inertial measurement unit (IMU)to optimize the efficiency of image feature point matching is proposed. Whenmatching two image feature points, the presented algorithm does not need totraverse the whole image for matching feature points, just around the predictedpoint within a small range traversal search to find matching feature points.After compared with the traditional algorithm, the experimental results showthat this method has greatly reduced the consumption of image feature pointsmatching time. All the conclusions will help research how to use the IMUoptimize the efficiency of image feature point matching and improve thereal-time performance in SLAM.

A Fast Feature Point Matching Algorithm Based on IMU Sensor