Title | TLCD: A Transformer based Loop Closure Detection for Robotic Visual SLAM |
Author | |
DOI | |
Publication Years | 2022
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Conference Name | 7th IEEE International Conference on Advanced Robotics and Mechatronics
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ISBN | 978-1-6654-8307-0
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Source Title | |
Pages | 261-267
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Conference Date | JUL 09-11, 2022
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Conference Place | null,Guilin,PEOPLES R CHINA
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Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
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Publisher | |
Abstract | Loop closure detection (LCD) can effectively correct errors in visual odometry. It is thereby a critical part in robotic visual simultaneous localization and mapping (SLAM) system, which is widely used in modern robotic systems such as sweeping robots and drones. In this paper, we propose a transformer-based loop closure detection algorithm (TLCD), which employs a distillation transformer as backbone to extract global features, and is combined with a sequence matching as back-end processing of principal component analysis (PCA) algorithm. TLCD can accurately provide Precision-Recall curve based on several public datasets including CityCentre and New-College datasets. Results show that TLCD's average accuracy is up to 16.91% higher than the traditional LCD method. It is also about 3.18% higher accuracy than the state-of-the-art convolutional neural network (CNN) based LCD method. |
Keywords | |
SUSTech Authorship | First
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Language | English
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URL | [Source Record] |
Indexed By | |
Funding Project | National Natural Science Foundation of China (NSFC)[62034007]
; Innovative Team Program of Education Department of Guangdong Province[2018KCXTD028]
; Shenzhen Science and Technology Program["KQTD20200820113051096","K21799101"]
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WOS Research Area | Automation & Control Systems
; Engineering
; Robotics
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WOS Subject | Automation & Control Systems
; Engineering, Electrical & Electronic
; Robotics
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WOS Accession No | WOS:000926398000043
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Data Source | Web of Science
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PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959319 |
Citation statistics |
Cited Times [WOS]:0
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Document Type | Conference paper |
Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/415767 |
Department | SUSTech Institute of Microelectronics |
Affiliation | Southern University of Science and Technology |
First Author Affilication | Southern University of Science and Technology |
First Author's First Affilication | Southern University of Science and Technology |
Recommended Citation GB/T 7714 |
Chenghao Li,Hongwei Ren,Minjie Bi,et al. TLCD: A Transformer based Loop Closure Detection for Robotic Visual SLAM[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:261-267.
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Files in This Item: | ||||||
File Name/Size | DocType | Version | Access | License | ||
C139.TLCD_A_Transfor(2417KB) | Restricted Access | -- |
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