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Algorithm Research & Explore
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3628-3631

Optimized loop closure detection algorithm based on Faster-RCNN

Xu Jianpeng
Bu Fanliang
School of Information Technology & Cyber Security, Chinese National Police University, Beijing 102628, China

Abstract

How to improve the accuracy of loop detection is one of the key issues in the simultaneous positioning and map construction system to achieve higher pose recovery accuracy. Based on the traditional word bag model principle, this paper constructed a new algorithm framework. The algorithm used the pre-processed Faster-RCNN to detect the image sequence, and used the detected image semantic feature types, pixel positions and feature maps. To construct a two-dimensional semantic feature vector map with identification, and used nonlinear cumulative error to calculated the similarity between the two-dimensional semantic feature vector map, and calculated the initial loopback based on this, it obtained the final loopback result after pose verification. Compared with the traditional word bagging algorithm, the experimental results verify the effectiveness of the proposed algorithm and achieve more accurate and efficient loopback detection.

Foundation Support

北京自然科学基金项目(4184099)
中国人民公安大学基础科研经费项目(2016JKF01316)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.08.0602
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 12
Section: Algorithm Research & Explore
Pages: 3628-3631
Serial Number: 1001-3695(2019)12-023-3628-04

Publish History

[2019-12-05] Printed Article

Cite This Article

徐建鹏, 卜凡亮. 基于Faster-RCNN的回环检测优化算法 [J]. 计算机应用研究, 2019, 36 (12): 3628-3631. (Xu Jianpeng, Bu Fanliang. Optimized loop closure detection algorithm based on Faster-RCNN [J]. Application Research of Computers, 2019, 36 (12): 3628-3631. )

About the Journal

  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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