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Abstract. In order to quick response to the rapid changes of mobile platforms in complex situations such as speedy changing direction or camera shake, visual odometry/visual simultaneous localization and mapping (VO/VSLAM) always needs a high frame rate vision sensor. However, the high frame rate of the sensor will affect the real-time performance of the odometry. Therefore, we need to investigate how to make a balance between the frame rate and the pose quality of the sensor. In this paper, wedoi:10.5194/isprs-archives-xliii-b2-2020-567-2020 fatcat:tytqfr3pivcz5b4yeizbfelm3e