计算机工程与应用2024，Vol.60Issue(20)：180-188,9.DOI:10.3778/j.issn.1002-8331.2307-0114
基于语义和几何一致性的视觉SLAM回环检测算法
Visual SLAM Loop Closure Algorithm Based on Semantic and Geometric Consistency
摘要
Abstract
Loop closure is the key to eliminate the cumulative error in simultaneous localization and mapping(SLAM)system.When the illumination conditions or the viewing angle change greatly,the traditional appearance-based loop clo-sure methods often fail.Aiming at this situation,an object-level loop closure method is proposed based on ORBSLAM2 framework.Firstly,semantic information obtained by object detection and the feature point information are used to con-struct object-level semantic map.Then semantic map is abstracted into topological map and landmarks into nodes,node information is described by color histogram,and combined geometric relationship between nodes,a graph matching method is proposed to realize loop detection based on semantic and geometric consistency constraints.When a loop is detected,the loop is corrected by object alignment.Finally,experiments are carried out on the published TUM and USTC data sets,and the results show that the accuracy of the proposed system is 49.58%higher than that of ORBSLAM2 on average,and the constructed semantic map shows a good positioning effect.关键词
视觉同时定位与地图构建/回环检测/颜色直方图/几何一致性/回环校正Key words
visual simultaneous localization and mapping/loop detection/color histogram/geometric consistency/loop correction分类
信息技术与安全科学引用本文复制引用
张干,周非,张阔,李嘉辉..基于语义和几何一致性的视觉SLAM回环检测算法[J].计算机工程与应用,2024,60(20):180-188,9.基金项目
国家自然科学基金(62271096). （62271096）
