Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network

As visual simultaneous localization and mapping (vSLAM) is easy disturbed by the changes of camera viewpoint and scene appearance when building a globally consistent map, the robustness and real-time performance of key frame image selections cannot meet the requirements. To solve this problem, a rea...

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Autores principales: Quande Yuan, Zhenming Zhang, Yuzhen Pi, Lei Kou, Fangfang Zhang
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Lenguaje:EN
Publicado: MDPI AG 2021
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Acceso en línea:https://doaj.org/article/a33d607bb1ed425686929191717e6168
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spelling oai:doaj.org-article:a33d607bb1ed425686929191717e61682021-11-25T18:57:57ZReal-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network10.3390/s212276121424-8220https://doaj.org/article/a33d607bb1ed425686929191717e61682021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7612https://doaj.org/toc/1424-8220As visual simultaneous localization and mapping (vSLAM) is easy disturbed by the changes of camera viewpoint and scene appearance when building a globally consistent map, the robustness and real-time performance of key frame image selections cannot meet the requirements. To solve this problem, a real-time closed-loop detection method based on a dynamic Siamese networks is proposed in this paper. First, a dynamic Siamese network-based fast conversion learning model is constructed to handle the impact of external changes on key frame judgments, and an elementwise convergence strategy is adopted to ensure the accurate positioning of key frames in the closed-loop judgment process. Second, a joint training strategy is designed to ensure the model parameters can be learned offline in parallel from tagged video sequences, which can effectively improve the speed of closed-loop detection. Finally, the proposed method is applied experimentally to three typical closed-loop detection scenario datasets and the experimental results demonstrate the effectiveness and robustness of the proposed method under the interference of complex scenes.Quande YuanZhenming ZhangYuzhen PiLei KouFangfang ZhangMDPI AGarticlesimultaneous localization and mappingclosed-loop detectionSiamese networkdeep learningelementwise integration strategyChemical technologyTP1-1185ENSensors, Vol 21, Iss 7612, p 7612 (2021)
institution DOAJ
collection DOAJ
language EN
topic simultaneous localization and mapping
closed-loop detection
Siamese network
deep learning
elementwise integration strategy
Chemical technology
TP1-1185
spellingShingle simultaneous localization and mapping
closed-loop detection
Siamese network
deep learning
elementwise integration strategy
Chemical technology
TP1-1185
Quande Yuan
Zhenming Zhang
Yuzhen Pi
Lei Kou
Fangfang Zhang
Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network
description As visual simultaneous localization and mapping (vSLAM) is easy disturbed by the changes of camera viewpoint and scene appearance when building a globally consistent map, the robustness and real-time performance of key frame image selections cannot meet the requirements. To solve this problem, a real-time closed-loop detection method based on a dynamic Siamese networks is proposed in this paper. First, a dynamic Siamese network-based fast conversion learning model is constructed to handle the impact of external changes on key frame judgments, and an elementwise convergence strategy is adopted to ensure the accurate positioning of key frames in the closed-loop judgment process. Second, a joint training strategy is designed to ensure the model parameters can be learned offline in parallel from tagged video sequences, which can effectively improve the speed of closed-loop detection. Finally, the proposed method is applied experimentally to three typical closed-loop detection scenario datasets and the experimental results demonstrate the effectiveness and robustness of the proposed method under the interference of complex scenes.
format article
author Quande Yuan
Zhenming Zhang
Yuzhen Pi
Lei Kou
Fangfang Zhang
author_facet Quande Yuan
Zhenming Zhang
Yuzhen Pi
Lei Kou
Fangfang Zhang
author_sort Quande Yuan
title Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network
title_short Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network
title_full Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network
title_fullStr Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network
title_full_unstemmed Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network
title_sort real-time closed-loop detection method of vslam based on a dynamic siamese network
publisher MDPI AG
publishDate 2021
url https://doaj.org/article/a33d607bb1ed425686929191717e6168
work_keys_str_mv AT quandeyuan realtimeclosedloopdetectionmethodofvslambasedonadynamicsiamesenetwork
AT zhenmingzhang realtimeclosedloopdetectionmethodofvslambasedonadynamicsiamesenetwork
AT yuzhenpi realtimeclosedloopdetectionmethodofvslambasedonadynamicsiamesenetwork
AT leikou realtimeclosedloopdetectionmethodofvslambasedonadynamicsiamesenetwork
AT fangfangzhang realtimeclosedloopdetectionmethodofvslambasedonadynamicsiamesenetwork
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