| 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 url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959319 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/415767 |
| Department | Southern University of Science and Technology 工学院_深港微电子学院 |
| 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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