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
DepartmentSUSTech Institute of Microelectronics
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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