A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM
Loop closure detection serves as the fulcrum of improving the accuracy and precision in simultaneous localization and mapping (SLAM). The majority of loop detection methods extract artificial features, which fall short of learning comprehensive data information, but unsupervised learning as a typica...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Electrical and Computer Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/9978022 |
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| author | Qiubo Zhong Xiaoyi Fang |
| author_facet | Qiubo Zhong Xiaoyi Fang |
| author_sort | Qiubo Zhong |
| collection | DOAJ |
| description | Loop closure detection serves as the fulcrum of improving the accuracy and precision in simultaneous localization and mapping (SLAM). The majority of loop detection methods extract artificial features, which fall short of learning comprehensive data information, but unsupervised learning as a typical deep learning method excels in self-access learning and clustering to analyze the similarity without handling the data. Moreover, the unsupervised learning method does solve restrictions on image quality and singleness semantics in many traditional SLAM methods. Therefore, a loop closure detection strategy based on an unsupervised learning method is proposed in this paper. The main component adopts BigBiGAN to extract features and establish an original bag of words. Then, the complete bag of words is used to detect loop closing. Finally, a considerable validation check of the ORB descriptor is added to verify the result and output outcome of loop closure detection. The proposed algorithm and other compared algorithms are, respectively, applied on Autolabor Pro1 to execute the indoor visual SLAM. The experiment shows that the proposed algorithm increases the recall rate by 20% compared with ORB-SLAM2 and LSD-SLAM. And it also improves at least 40.0% accuracy than others and reduces 14% time loss of ORB-SLAM2. Therefore, the presented SLAM based on BigBiGAN does benefit much the visual SLAM in the indoor environment. |
| format | Article |
| id | doaj-art-003fca2eb3754ffd84189209ca4f213a |
| institution | Kabale University |
| issn | 2090-0147 2090-0155 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Electrical and Computer Engineering |
| spelling | doaj-art-003fca2eb3754ffd84189209ca4f213a2025-02-03T01:27:21ZengWileyJournal of Electrical and Computer Engineering2090-01472090-01552021-01-01202110.1155/2021/99780229978022A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAMQiubo Zhong0Xiaoyi Fang1Robots College, Ningbo University of Technology, Ningbo, Zhejiang 315211, ChinaRobots College, Ningbo University of Technology, Ningbo, Zhejiang 315211, ChinaLoop closure detection serves as the fulcrum of improving the accuracy and precision in simultaneous localization and mapping (SLAM). The majority of loop detection methods extract artificial features, which fall short of learning comprehensive data information, but unsupervised learning as a typical deep learning method excels in self-access learning and clustering to analyze the similarity without handling the data. Moreover, the unsupervised learning method does solve restrictions on image quality and singleness semantics in many traditional SLAM methods. Therefore, a loop closure detection strategy based on an unsupervised learning method is proposed in this paper. The main component adopts BigBiGAN to extract features and establish an original bag of words. Then, the complete bag of words is used to detect loop closing. Finally, a considerable validation check of the ORB descriptor is added to verify the result and output outcome of loop closure detection. The proposed algorithm and other compared algorithms are, respectively, applied on Autolabor Pro1 to execute the indoor visual SLAM. The experiment shows that the proposed algorithm increases the recall rate by 20% compared with ORB-SLAM2 and LSD-SLAM. And it also improves at least 40.0% accuracy than others and reduces 14% time loss of ORB-SLAM2. Therefore, the presented SLAM based on BigBiGAN does benefit much the visual SLAM in the indoor environment.http://dx.doi.org/10.1155/2021/9978022 |
| spellingShingle | Qiubo Zhong Xiaoyi Fang A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM Journal of Electrical and Computer Engineering |
| title | A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM |
| title_full | A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM |
| title_fullStr | A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM |
| title_full_unstemmed | A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM |
| title_short | A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM |
| title_sort | bigbigan based loop closure detection algorithm for indoor visual slam |
| url | http://dx.doi.org/10.1155/2021/9978022 |
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