计算机与数字工程2019，Vol.47Issue(3)：497-502,6.DOI:10.3969/j.issn.1672-9722.2019.03.002
基于深度学习的回环检测算法研究
Research on Loop Closure Detection Based on Deep Learning
摘要
Abstract
Aiming at the problem of pose drift caused by the positioning and mapping process of mobile robots,the reasons for the pose drift in the whole visual SLAM framework are studied. In the process of moving the mobile robot using the vision sensor,the pose change of the robot is calculated by the pictures of two adjacent frames. As the time increases,the number of picture frames in?creases,and the posture calculated each time is based on the former picture,so the pose error of the robot gradually increases and drifts. The purpose of this paper is to solve the drift problem caused by the robot movement. In this paper,the deep learning method is used to realize the loop detection function to solve the pose drift problem of the robot,and the effectiveness of the method is veri?fied by experiments.关键词
视觉SLAM/回环检测/深度学习/位姿漂移Key words
visual SLAM/loop closure detection/deep learning/pose drift分类
信息技术与安全科学引用本文复制引用
罗顺心,张孙杰..基于深度学习的回环检测算法研究[J].计算机与数字工程,2019,47(3):497-502,6.基金项目
国家自然科学基金(编号:61603255)资助. （编号:61603255）
