基于改进M-ORB的视觉SLAM直接-闭环检测算法

doi:10.11959/j.issn.2096-6652.202148

Abstract

Abstract:

Most kinds of direct methods do not extract image feature points in the front end of SLAM system, resulting in that they cannot use loop closure detection with bag-of-words models to eliminate the cumulative error of the system.To resolve this problem, an improved mature-oriented fast and rotated BRIEF (M-ORB) based direct-loop closure detection algorithm for visual SLAM was proposed, which designed an improved M-ORB, generated the bag of words model required for loop closure detection, and then used the term frequency-inverse document frequency (TF-IDF) algorithm to adaptively assign weights to the visual words in each sub-node of the dictionary tree.Finally, an accurate representation of the scene information was obtained.In the end, the proposed algorithm and conducted comparative experiments were verified though two public data sets TUM and KITTI.The experimental results show that the algorithm proposed in this paper can effectively detect the loop closure, and has better real-time and robustness performance without reducing the accuracy.

Key words: visual SLAM, loop closure detection, bag of words model, term frequency-inverse document frequency

CLC Number:

TP242

Wei LI, Menghan REN, Weihao HUANG, et al. Improved M-ORB based direct-loop closure detection algorithm for visual SLAM[J]. Chinese Journal of Intelligent Science and Technology, 2021, 3(4): 482-491.

Figures/Tables 17

References 21

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KITTI序列	DSO	ORB-SLAM2	D-SLAM
KITTI_00	0.298 4%	0.246 6%	0.215 3%
KITTI_05	0.187 7%	0.151 3%	0.114 9%
KITTI_07	0.287 4%	0.289 8%	0.159 2%
KITTI_09	0.216 4%	0.183 9%	0.164 9%

KITTI序列	DSO	ORB-SLAM2	D-SLAM
KITTI_00	48.278 1	1.297 5	0.621 7
KITTI_05	41.519 7	0.951 7	0.607 4
KITTI_07	40.476 2	0.769 1	0.445 7
KITTI_09	52.175 9	1.459 2	0.683 7

KITTI序列	DSO	ORB-SLAM2	D-SLAM
KITTI_00	2.981 6	1.459 2	0.627 4
KITTI_05	2.274 3	1.297 5	0.601 7
KITTI_07	1.671 4	0.951 7	0.445 7
KITTI_09	2.999 4	1.679 1	0.694 2

Improved M-ORB based direct-loop closure detection algorithm for visual SLAM

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