{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T05:29:27Z","timestamp":1769837367778,"version":"3.49.0"},"reference-count":21,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,4,20]],"date-time":"2022-04-20T00:00:00Z","timestamp":1650412800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52075152"],"award-info":[{"award-number":["52075152"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Collaborative Innovation Center of Intelligent Green Manufacturing Technology and Equipment","award":["IGSD-2020-006"],"award-info":[{"award-number":["IGSD-2020-006"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This paper presents a new method of removing mismatches of redundant points based on oriented fast and rotated brief (ORB) in vision simultaneous localization and mapping (SLAM) systems. On the one hand, the grid-based motion statistics (GMS) algorithm reduces the processing time of key frames with more feature points and greatly increases the robustness of the original algorithm in a complex environment. On the other hand, aiming at the situation that the GMS algorithm is prone to false matching when there are few symmetry feature point pairs, the random sample consensus (RANSAC) algorithm is used to optimize and correct it. Experiments show that the method we propose has an average error correction rate of 28.81% for individual GMS while the time consumed at the same accuracy threshold is reduced by 72.18% on average. At the same time, we compared it to locality preserving matching (LPM) and progressive sample consensus (PROSAC), and it performed the best. Finally, we integrated GMS-RANSAC into the ORB-SLAM2 system for monocular initialization, which results in a significant improvement.<\/jats:p>","DOI":"10.3390\/sym14050849","type":"journal-article","created":{"date-parts":[[2022,4,20]],"date-time":"2022-04-20T00:22:43Z","timestamp":1650414163000},"page":"849","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["GMS-RANSAC: A Fast Algorithm for Removing Mismatches Based on ORB-SLAM2"],"prefix":"10.3390","volume":"14","author":[{"given":"Daode","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Hubei University of Technology, Wuhan 430062, China"}]},{"given":"Jinlun","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hubei University of Technology, Wuhan 430062, China"}]},{"given":"Fusheng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hubei University of Technology, Wuhan 430062, China"}]},{"given":"Xinyu","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hubei University of Technology, Wuhan 430062, China"}]},{"given":"Xuhui","family":"Ye","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hubei University of Technology, Wuhan 430062, China"},{"name":"Collaborative Innovation Center of Intelligent Green Manufacturing Technology and Equipment, Qingdao 266000, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,4,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Grisetti, G., Stachniss, C., and Burgard, W. 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