A critical component of visual simultaneous localization and mapping is loop closure detection(LCD),an operation judging whether a robot has come to a pre-visited area.Concretely,given a query image(i.e.,the latest vi...A critical component of visual simultaneous localization and mapping is loop closure detection(LCD),an operation judging whether a robot has come to a pre-visited area.Concretely,given a query image(i.e.,the latest view observed by the robot),it proceeds by first exploring images with similar semantic information,followed by solving the relative relationship between candidate pairs in the 3D space.In this work,a novel appearance-based LCD system is proposed.Specifically,candidate frame selection is conducted via the combination of Superfeatures and aggregated selective match kernel(ASMK).We incorporate an incremental strategy into the vanilla ASMK to make it applied in the LCD task.It is demonstrated that this setting is memory-wise efficient and can achieve remarkable performance.To dig up consistent geometry between image pairs during loop closure verification,we propose a simple yet surprisingly effective feature matching algorithm,termed locality preserving matching with global consensus(LPM-GC).The major objective of LPM-GC is to retain the local neighborhood information of true feature correspondences between candidate pairs,where a global constraint is further designed to effectively remove false correspondences in challenging sceneries,e.g.,containing numerous repetitive structures.Meanwhile,we derive a closed-form solution that enables our approach to provide reliable correspondences within only a few milliseconds.The performance of the proposed approach has been experimentally evaluated on ten publicly available and challenging datasets.Results show that our method can achieve better performance over the state-of-the-art in both feature matching and LCD tasks.We have released our code of LPM-GC at https://github.com/jiayi-ma/LPM-GC.展开更多
A typical approach to describe an image in loop closure detection for visual SLAM is to extract a set of local patch descriptors and encode them into a co-occurrence vector.The most common patch encoding strategy is k...A typical approach to describe an image in loop closure detection for visual SLAM is to extract a set of local patch descriptors and encode them into a co-occurrence vector.The most common patch encoding strategy is known as bag-of-visual-words(BoVW)representation,which consists of clustering the local descriptors into visual vocabulary.The distinctiveness of images is difficult to represent since most of them contain similar texture information,which may lead to false positive results.In this paper,the vocabulary is used as a whole by adopting the Fisher kernel(FK)framework.The new representation describes the image as the gradient vector of the likelihood function.The efficiently computed vectors can be compressed with a minimal loss of accuracy using product quantization and perform well in the task of loop closure detection.The proposed method achieves a higher recall rate with 100%precision in loop closure detection compared with state-of-the-art methods,and the detection on bidirectional loops is also enhanced.vSLAM systems may perceive the environment more efficiently by constructing a globally consistent map with the proposed loop closure detection method,which is potentially valuable for applications such as autonomous driving.展开更多
Visual simultaneous localization and mapping(SLAM)is crucial in robotics and autonomous driving.However,traditional visual SLAM faces challenges in dynamic environments.To address this issue,researchers have proposed ...Visual simultaneous localization and mapping(SLAM)is crucial in robotics and autonomous driving.However,traditional visual SLAM faces challenges in dynamic environments.To address this issue,researchers have proposed semantic SLAM,which combines object detection,semantic segmentation,instance segmentation,and visual SLAM.Despite the growing body of literature on semantic SLAM,there is currently a lack of comprehensive research on the integration of object detection and visual SLAM.Therefore,this study aims to gather information from multiple databases and review relevant literature using specific keywords.It focuses on visual SLAM based on object detection,covering different aspects.Firstly,it discusses the current research status and challenges in this field,highlighting methods for incorporating semantic information from object detection networks into mileage measurement,closed-loop detection,and map construction.It also compares the characteristics and performance of various visual SLAM object detection algorithms.Lastly,it provides an outlook on future research directions and emerging trends in visual SLAM.Research has shown that visual SLAM based on object detection has significant improvements compared to traditional SLAM in dynamic point removal,data association,point cloud segmentation,and other technologies.It can improve the robustness and accuracy of the entire SLAM system and can run in real time.With the continuous optimization of algorithms and the improvement of hardware level,object visual SLAM has great potential for development.展开更多
Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios.Recent advances in ambient assistive living have shown great power in detecting and...Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios.Recent advances in ambient assistive living have shown great power in detecting and locating persons living in their homes,especially using the ON/OFF binary sensors.In this paper,we exploit the Bluetooth low-energy beacons as device-based binary anchors under the lowest transmission power to turn any indoor activity and facility interaction into a binary location indicator.The binary anchors are fused with an extended Kalman filter based pedestrian dead-reckoning using a factor graph optimization,with extra constraints including the normalized magnetic loop closure which is optimized using an attenuation factor,and a rapidly-exploring random tree-based map collision validation.The proposed system provides a cost-effective,scalable,and robust localization for common indoor scenarios.The experimental results show an effective sub-meter precision for the long-term trajectories,and a small amount of anchors is enough for significant calibration in large scenarios.展开更多
基金supported by the Key Research and Development Program of Hubei Province(2020BAB113)。
文摘A critical component of visual simultaneous localization and mapping is loop closure detection(LCD),an operation judging whether a robot has come to a pre-visited area.Concretely,given a query image(i.e.,the latest view observed by the robot),it proceeds by first exploring images with similar semantic information,followed by solving the relative relationship between candidate pairs in the 3D space.In this work,a novel appearance-based LCD system is proposed.Specifically,candidate frame selection is conducted via the combination of Superfeatures and aggregated selective match kernel(ASMK).We incorporate an incremental strategy into the vanilla ASMK to make it applied in the LCD task.It is demonstrated that this setting is memory-wise efficient and can achieve remarkable performance.To dig up consistent geometry between image pairs during loop closure verification,we propose a simple yet surprisingly effective feature matching algorithm,termed locality preserving matching with global consensus(LPM-GC).The major objective of LPM-GC is to retain the local neighborhood information of true feature correspondences between candidate pairs,where a global constraint is further designed to effectively remove false correspondences in challenging sceneries,e.g.,containing numerous repetitive structures.Meanwhile,we derive a closed-form solution that enables our approach to provide reliable correspondences within only a few milliseconds.The performance of the proposed approach has been experimentally evaluated on ten publicly available and challenging datasets.Results show that our method can achieve better performance over the state-of-the-art in both feature matching and LCD tasks.We have released our code of LPM-GC at https://github.com/jiayi-ma/LPM-GC.
文摘A typical approach to describe an image in loop closure detection for visual SLAM is to extract a set of local patch descriptors and encode them into a co-occurrence vector.The most common patch encoding strategy is known as bag-of-visual-words(BoVW)representation,which consists of clustering the local descriptors into visual vocabulary.The distinctiveness of images is difficult to represent since most of them contain similar texture information,which may lead to false positive results.In this paper,the vocabulary is used as a whole by adopting the Fisher kernel(FK)framework.The new representation describes the image as the gradient vector of the likelihood function.The efficiently computed vectors can be compressed with a minimal loss of accuracy using product quantization and perform well in the task of loop closure detection.The proposed method achieves a higher recall rate with 100%precision in loop closure detection compared with state-of-the-art methods,and the detection on bidirectional loops is also enhanced.vSLAM systems may perceive the environment more efficiently by constructing a globally consistent map with the proposed loop closure detection method,which is potentially valuable for applications such as autonomous driving.
基金the National Natural Science Foundation of China(No.62063006)to the Natural Science Foundation of Guangxi Province(No.2023GXNS-FAA026025)+3 种基金to the Innovation Fund of Chinese Universities Industry-University-Research(ID:2021RYC06005)to the Research Project for Young and Middle-aged Teachers in Guangxi Universities(ID:2020KY15013)to the Special Research Project of Hechi University(ID:2021GCC028)supported by the Project of Outstanding Thousand Young Teachers’Training in Higher Education Institutions of Guangxi,Guangxi Colleges and Universities Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region.
文摘Visual simultaneous localization and mapping(SLAM)is crucial in robotics and autonomous driving.However,traditional visual SLAM faces challenges in dynamic environments.To address this issue,researchers have proposed semantic SLAM,which combines object detection,semantic segmentation,instance segmentation,and visual SLAM.Despite the growing body of literature on semantic SLAM,there is currently a lack of comprehensive research on the integration of object detection and visual SLAM.Therefore,this study aims to gather information from multiple databases and review relevant literature using specific keywords.It focuses on visual SLAM based on object detection,covering different aspects.Firstly,it discusses the current research status and challenges in this field,highlighting methods for incorporating semantic information from object detection networks into mileage measurement,closed-loop detection,and map construction.It also compares the characteristics and performance of various visual SLAM object detection algorithms.Lastly,it provides an outlook on future research directions and emerging trends in visual SLAM.Research has shown that visual SLAM based on object detection has significant improvements compared to traditional SLAM in dynamic point removal,data association,point cloud segmentation,and other technologies.It can improve the robustness and accuracy of the entire SLAM system and can run in real time.With the continuous optimization of algorithms and the improvement of hardware level,object visual SLAM has great potential for development.
基金supported by Zhejiang Provincial Natural Science Foundation of China(No.LQ24F020039)the Natural Science Foundation of Zhejiang Province(No.LZ21F020005)+1 种基金the National Natural Science Foundation of China(No.61772472)Zhejiang Provincial Key Research and Development Program of China(No.2021C03027).
文摘Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios.Recent advances in ambient assistive living have shown great power in detecting and locating persons living in their homes,especially using the ON/OFF binary sensors.In this paper,we exploit the Bluetooth low-energy beacons as device-based binary anchors under the lowest transmission power to turn any indoor activity and facility interaction into a binary location indicator.The binary anchors are fused with an extended Kalman filter based pedestrian dead-reckoning using a factor graph optimization,with extra constraints including the normalized magnetic loop closure which is optimized using an attenuation factor,and a rapidly-exploring random tree-based map collision validation.The proposed system provides a cost-effective,scalable,and robust localization for common indoor scenarios.The experimental results show an effective sub-meter precision for the long-term trajectories,and a small amount of anchors is enough for significant calibration in large scenarios.
