.png){kind=icon}
返回
Two-Stage vSLAM Loop Closure Detection Based on Sequence Node Matching and Semi-Semantic Autoencoder
.png){kind=icon}
PRE
AI
DOI：10.1007/s10846-020-01302-0.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Visual scene understanding and place recognition are the most challenging problems that mobile robots must solve for to achieve autonomous navigation. To reduce the high computational complexity of many global optimal search strategies, a new two-stage loop closure detection (LCD) strategy is developed in this paper. The front-end sequence node level matching (FSNLM) algorithm is based on the local continuity constraint of the motion process, which avoids the blind search for the global optimal match, and matches the image nodes via a sliding window to accurately find the local optimal matching candidate nodesets. In addition, the back-end image level matching (BILM) algorithm combined with an improved semantic model, DeepLab_AE, uses a convolutional neural network (CNN) as a feature detector to extract visual descriptors. It replaces traditional feature detectors that are manually designed by researchers in the computer vision field and cannot be applied to all environments. Finally, the performance of the two-stage LCD algorithm is evaluated on five public datasets, and is compared with the performance of other state-of-the-art algorithms. The evaluation results prove that the proposed method compares favorably with other algorithms.
Keyword:
Place recognition
Loop closure
CNN features
Semantic
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
J
IF:
2.8
论文数:
3.9K
被引数:
6.9K
机构
引用论文
Histological Versus Stereological Methods Applied at Spermatogonia During Normal Human Development
PREAI
分享收藏CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectoryCAT-SLAM: 使用基于连续外观的轨迹进行概率定位和映射
PREAI
分享收藏Multi-resolution map building and loop closure with omnidirectional images.png)
AUTONOMOUS ROBOTS
AUTONOMOUS ROBOTSIF4.3
PREAI
分享收藏Mutations in KaiA, a clock protein, extend the period of circadian rhythm in the cyanobacterium Synechococcus elongatus PCC 7942Microbiology
OAAI
MicrobiologyIF0
OAAI分享收藏
查看更多内容