现代电子技术2025，Vol.48Issue(11)：180-186,7.DOI:10.16652/j.issn.1004-373x.2025.11.028
一种基于复数描述符的鲁棒位置重识别方法
Robust place re-identification method based on complex number descriptor
摘要
Abstract
Improving the consistency of map construction and eliminating map overlapping are fundamental tasks within the domain of simultaneous localization and mapping(SLAM).They have gained significant attention in the field of place identification.For the critical steps of identification and description in the place identification,the common strategies involve extracting key features from a point cloud frame,describing them as descriptors,and calculating their similarity to determine place similarity.However,many traditional approaches are capable of extracting single features only,leading to inadequate environment description capabilities.In this paper,a robust place re-identification framework based on complex numbers is proposed.In the framework,the scalability of complex numbers is utilized to fuse two types of information of height and intensity,so as to construct descriptors.This aims to enhance environmental description capabilities and efficiency,providing a more robust environment description and improving overall accuracy.Departing from the traditional filtering strategies,the original two-step filtering strategy is expanded into the one with three steps.A fast retrieval strategy for rotational invariance is designed first,and then,for the distribution differences of complex features,a distributional filtering strategy is implemented.Lastly,multi-angle complex vectors are utilized for accurate scoring.Experiments on public datasets and real autonomous vehicles show that the proposed method is superior and flexible in comparison with the traditional place re-identification scheme.The proposed place re-identification method achieves an accuracy of more than 99%.Meanwhile,its re-identification efficiency has been improved by more than 30%.关键词
回环检测/即时定位/地图构建/位置重识别/复数描述符/快速检索Key words
loop closure detection/simultaneous localization/mapping/place re-identification/complex number descriptor/fast retrieval分类
电子信息工程引用本文复制引用
王智佼,王治才,晏鹏博,王武祺,谢耀华..一种基于复数描述符的鲁棒位置重识别方法[J].现代电子技术,2025,48(11):180-186,7.基金项目
甘肃省科技计划项目(22YF11GA299) （22YF11GA299）
