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System Development & Application
|
515-520

Design of PL-VO adaptive optimizer based on environmental information entropy

Li Boqian
Wang Qiang
School of Logistics Engineering, Wuhan University of Technology, Wuhan 430070, China

Abstract

Aiming at the problem of inefficient operation of the point-line visual odometry(PL-VO) in the simultaneous location and mapping technology when the environmental texture changes, this paper designed feature extraction adaptive optimizer based on environmental information entropy to improve the efficiency and robustness of the original PL-VO algorithm. The optimizer used image information entropy as the main influencing factor to determine the optimal extraction features of the odometry, and generated a strategy map with included feature extraction options. It could also perform predictive calculations on the unexplored area, and quickly matched it with the strategy map to obtain the best feature extraction strategy for the area. It tested the average processing time and mapping effect of the PL-VO with an optimizer(APL-VO) in the TUM dataset. Experimental results show that APL-VO has stronger robustness and mapping efficiency in a hybrid environment than the original algorithm.

Foundation Support

国家电网公司总部科技项目(5418-201971157A-0-0-00)
国家重点研发计划资助项目(2018YFC1407405)
中央高校基本科研专项资金资助项目(WUT:2019III103CG)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.07.0312
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 2
Section: System Development & Application
Pages: 515-520
Serial Number: 1001-3695(2022)02-032-0515-06

Publish History

[2021-11-13] Accepted Paper
[2022-02-05] Printed Article

Cite This Article

李博谦, 王强. 基于环境信息熵的点线视觉里程计自适应优化器设计 [J]. 计算机应用研究, 2022, 39 (2): 515-520. (Li Boqian, Wang Qiang. Design of PL-VO adaptive optimizer based on environmental information entropy [J]. Application Research of Computers, 2022, 39 (2): 515-520. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    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.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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