Affiliation:
1. School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
2. Advanced Manufacturing and Automatization Engineering Laboratory, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
Abstract
Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to dynamic real-world environments. The correctness of re-localization and recall of loop closure detection are both lower when the mobile robot loses frames in a dynamic environment. Thus, in this paper, the re-localization and loop closure detection method with a semantic topology graph based on ORB-SLAM2 is proposed. First, we use YOLOv5 for object detection and label the recognized dynamic and static objects. Secondly, the topology graph is constructed using the position information of static objects in space. Then, we propose a weight expression for the topology graph to calculate the similarity of topology in different keyframes. Finally, the re-localization and loop closure detection are determined based on the value of topology similarity. Experiments on public datasets show that the semantic topology graph is effective in improving the correct rate of re-localization and the accuracy of loop closure detection in a dynamic environment.
Funder
Doctoral Talent Train Project of Chongqing University of Posts and Telecommunications
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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