[arvix日报]2020-08-13

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and association is still empirically designed in most cases, and can be vulnerable in complex environments. This paper shows that feature extraction with deep convolutional neural networks (CNNs) can be seamlessly incorporated into a modern SLAM framework. The proposed SLAM system utilizes a state-of-the-art CNN to detect keypoints in each image frame, and to give not only keypoint descriptors, but also a global descriptor of the whole image. These local and global features are then used by different SLAM modules, resulting in much more robustness against environmental changes and viewpoint changes compared with using hand-crafted features. We also train a visual vocabulary of local features with a Bag of Words (BoW) method. Based on the local features, global features, and the vocabulary, a highly reliable loop closure detection method is built. Experimental results show that all the proposed modules significantly outperforms the baseline, and the full system achieves much lower trajectory errors and much higher correct rates on all evaluated data. Furthermore, by optimizing the CNN with Intel OpenVINO toolkit and utilizing the Fast BoW library, the system benefits greatly from the SIMD (single-instruction-multiple-data) techniques in modern CPUs. The full system can run in real-time without any GPU or other accelerators. The code is public at this https URL.

 

本文表明，可以将具有深度卷积神经网络（CNN）的特征提取无缝集成到现代SLAM框架中。所提出的SLAM系统利用最新的CNN来检测每个图像帧中的关键点，不仅给出关键点描述符，而且还给出整个图像的全局描述符。然后，这些局部和全局特征将由不同的SLAM模块使用，与使用手工制造的特征相比，其对环境变化和视点变化的鲁棒性更高。我们还使用“语言袋”