ArticleSensors (Basel, Switzerland)2023
A Semantic Topology Graph to Detect Re-Localization and Loop Closure of the Visual Simultaneous Localization and Mapping System in a Dynamic Environment.
Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
2 citing papers in PubMed.
- A Comparative Review on Enhancing Visual Simultaneous Localization and Mapping with Deep Semantic Segmentation.Sensors (Basel, Switzerland) · 2024Review
- A Novel Obstacle Traversal Method for Multiple Robotic Fish Based on Cross-Modal Variational Autoencoders and Imitation Learning.Biomimetics (Basel, Switzerland) · 2024Article
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Authors and funding
6 authors.
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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.
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