research-article
Authors: Xiuqiang Shen, Lihang Chen, Zhuhua Hu, Yuexin Fu, + 3, Hao Qi, Yunfeng Xiang, and Jiaqi Wu (Less)
ICCDE '23: Proceedings of the 2023 9th International Conference on Computing and Data Engineering
January 2023
Pages 34 - 40
Published: 22 June 2023 Publication History
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Abstract
In indoor scenes, VSLAM-based mobile robots face the challenges of poor closed-loop detection and low localization accuracy. Based on a monocular camera, we propose a closed-loop detection algorithm based on an improved real-time updating bag-of-words model. By extracting feature descriptors of online images and fusing them with loaded offline words, a fused bag of words related to the mobile robot application scenario is generated, which changes with the robot application scenario. In this paper, the improved bag-of-words and the original bag-of-words are combined with ORB-SLAM3 for closed-loop detection experiments, respectively. The experimental results show that the error between the predicted trajectory and the real trajectory of the ORB-SLAM3 system combined with the improved bag-of-words model is significantly reduced, and the robustness of the system is also improved, resulting in a certain improvement in the closed-loop detection capability of the small mobile robot.
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Index Terms
A Closed-loop Detection Algorithm for Online Updating of Bag-Of-Words Model
Software and its engineering
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ICCDE '23: Proceedings of the 2023 9th International Conference on Computing and Data Engineering
January 2023
101 pages
ISBN:9781450398022
DOI:10.1145/3589845
Copyright © 2023 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [emailprotected].
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 22 June 2023
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Author Tags
- Bag of words
- Closed loop detection
- ORB-SALM3
- VSLAM
Qualifiers
- Research-article
- Research
- Refereed limited
Conference
ICCDE 2023
ICCDE 2023: 2023 9th International Conference on Computing and Data Engineering
January 6 - 8, 2023
Haikou, China
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