id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ajst-30228	Zhang, Xi; Tan, Nianqing	Research on Improved Indoor Localization Algorithm for UAVs Based on VINS	2025	7	.pdf	application/pdf	4837	254	40	This step constrains both the pose of keyframes and the positions of feature points, ensuring accurate feature localization. ORB feature detection is based on the FAST (Features from Accelerated Segment Test) corner detection method, which identifies feature points by analyzing intensity variations within a circular neighborhood.	cache/ajst-30228.pdf	txt/ajst-30228.txt