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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MDPI AG
2021
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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) |
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simultaneous localization and mapping closed-loop detection Siamese network deep learning elementwise integration strategy Chemical technology TP1-1185 |
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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 |
_version_ |
1718410480130719744 |