Modification of the SLAM Algorithm Based on Comparative Analysis of the Algorithm for Extracting Features From Images

The SLAM algorithms used on inexpensive compact boards in many standalone mobile devices are not fast enough. To solve this problem, we modified the RTAB-Map method in order to increase its speed without losing the quality of the algorithm itself. One way to improve the speed of the algorithm is to replace the SIFT keypoint extraction algorithm. In this article, we made a comparative analysis of methods for identifying local features from images.