Input | Pixel coordinates of xp, xs, and xe; feature number nf |
Output | Adaptive coefficients of weights ω |
1: | for i←1 to nf do |
2: | Cj ← The pixel coordinates(ORB,LSD) |
3: | if (Cj∈Si) then si++, Si ‹- Cj |
4: | end |
5: | for i←1 to n2 do |
6: | if si ≠ 0 then Sk ← Si, k++ |
7: | end |
8: | for m←1 to k do |
9: | if \(({s_{i \cdot }}_{near(S)} = 0)\& \& ({s_m} > {s_i}_{ \cdot near(near(S))})\) |
10: | then Sm ← Sm + near(S) |
11: | end |
12: | \(\omega { = }q \cdot (1/s_{m} )\) |
13: | return ω |