Filtering Based Adaptive Visual Odometry Sensor Framework Robust to Blurred Images

. 2016 Jul 5;16(7):1040. doi: 10.3390/s16071040

Algorithm 3: Anti-blurred Key-frame Selection

Input: Image sequence

g_{1}, g_{2}, \dots, g_{n}

N_{c u r r e n t}

, D
1 for each

i > N_{c u r r e n t} & & D_{m i n} ⩽ | T_{g_{i}} - T_{N_{c u r r e n t}} | ⩽ D_{m a x}

do
2 Calculate blurred degree

b_{i}

and its threshold

{\hat{b}}_{i}

3 if

b_{i} ⩽ {\hat{b}}_{i}

then
4 Push(

g_{i}

,C1)
5 else
6 Push(

g_{i}

,C2)
7 end
8 end
9 if C1 $! =$ NULL then
10 return Pop(C1)
11 else
12 Sort(C2)
13 return Pop(C2)
14 end