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Slam loop closure detection algorithm based on MSA-SG
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DOI：10.1007/s10586-024-04406-6.png)
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摘要
En 中文
This paper introduces an innovative method to improve loop closure detection within the domain of Simultaneous Localization And Mapping (SLAM) by integrating a Multi-Scale Attention and Semantic Guidance (MSA-SG) framework. In SLAM systems, accurate loop closure detection is essential for minimizing localization errors over time and ensuring the reliability of the constructed maps in robotics navigation through uncharted environments. Our proposed method utilizes EfficientNet-EA for robust feature extraction and introduces MSA-SG, a novel mechanism that synergizes multiscale attention with semantic guidance to focus on critical semantic features essential for loop closure detection. This approach ensures the prioritization of static environmental landmarks over transient and irrelevant objects, significantly enhancing the accuracy and efficiency of loop closure detection in complex and dynamic settings. Experimental validations on recognized datasets underscore the superiority of our approach, demonstrating marked improvements in precision, recall, and overall SLAM performance. This research highlights the significant benefits of leveraging semantic insights and attentional focus in advancing the capabilities of loop closure detection for SLAM applications.
Keyword:
SLAM
Loop closure detection
Multiscale attention mechanism
Semantic guidance
期刊
C
IF:
4.1
论文数:
5.1K
被引数:
7.5K
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