中文版 | English
Title

TLCD: A Transformer based Loop Closure Detection for Robotic Visual SLAM

Author
DOI
Publication Years
2022
Conference Name
7th IEEE International Conference on Advanced Robotics and Mechatronics
ISBN
978-1-6654-8307-0
Source Title
Pages
261-267
Conference Date
JUL 09-11, 2022
Conference Place
null,Guilin,PEOPLES R CHINA
Publication Place
345 E 47TH ST, NEW YORK, NY 10017 USA
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
Language
English
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"]
WOS Research Area
Automation & Control Systems ; Engineering ; Robotics
WOS Subject
Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics
WOS Accession No
WOS:000926398000043
Data Source
Web of Science
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959319
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/415767
DepartmentSouthern University of Science and Technology
工学院_深港微电子学院
Affiliation
Southern University of Science and Technology
First Author AffilicationSouthern University of Science and Technology
First Author's First AffilicationSouthern 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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File Name/Size DocType Version Access License
C139.TLCD_A_Transfor(2417KB) Restricted Access--
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