Modify the issue of extracting feature points at the edges of the gripper mask.#1
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Aczheng-cai wants to merge 2 commits intocheng-chi:masterfrom
Open
Modify the issue of extracting feature points at the edges of the gripper mask.#1Aczheng-cai wants to merge 2 commits intocheng-chi:masterfrom
Aczheng-cai wants to merge 2 commits intocheng-chi:masterfrom
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The gripper is a moving object, so the generated mask moves along with it. Feature points are easily generated at the edges of the mask, which affects the robustness of ORBSLAM3. Therefore, the feature point selection method has been modified to avoid tracking feature points located at the edges of the gripper mask.