【实验记录】SLAM论文：回环检测

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文章标签：笔记学习

于 2023-11-04 22:05:57 首次发布

本文链接：https://blog.csdn.net/qq_45306739/article/details/134224186

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本文介绍了多种SLAM系统中回环检测的关键算法，包括基于LiDAR的Robust_Place_Recognition、Scan context、M2DP和Lidar iris，以及视觉SLAM的相关方法。回环检测的真阳性判断通常基于特定距离阈值，例如小于2m、4m或10m。文章探讨了光线、阴影等因素对视觉SLAM的影响，并指出回环检测的挑战在于正确匹配图像信息。同时，文章列举了不同方法的优缺点，如基于几何信息的视觉SLAM回环检测，以及双目相机和激光SLAM的融合应用。

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PR曲线

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检测不到的主要原因是光线、阴影等造成的无法提取图像信息

1. Robust_Place_Recognition_using_an_Imaging_Lidar

If the position between the matched nodes is less than 2m, we consider this detection a true positive, otherwise a false positive.
如果匹配节点之间的位置小于2m，则认为该检测为真阳性，否则为假阳性。

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第四节的实验部分，没有绘制pr曲线，而是针对某一次实验计算了总共的loop次数、真阳性和假阳性，

2.Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map

If a ground truth pose distance between the query and the matched node is less than 4 m, the detection is considered as true positive.
如果查询和匹配节点之间的地面真实姿态距离小于 4 m，则检测被视为真阳性。

阈值为4m，大于这个数字就被视为假阳性；否则算法通过视为真阳性

3.M2DP: A novel 3D point cloud descriptor and its application in loop closure detection

Two locations are considered as the ground truth loop closure if their distance is less than 10m.
如果距离小于 10m，则两个位置被视为真实环路闭合。

For each point cloud, we calculate its descriptor and search for the nearest neighbour as the matching candidate. The ±50 (±5 for Freiburg Campus) frames before/after the current frame are excluded from the matching process to avoid matching neighboring point clouds. We then vary a distance threshold on the nearest neighbour distance to determine the match. If the distance between one frame and its nearest neighbour is less than the threshold, we take this match as loop closure. Using this threshold, the recall and precision curve is generated to compare the performance of different methods.
对于每个点云，我们计算其描述符并搜索最近的邻居作为匹配候选者。当前帧之前/之后的±50（弗莱堡校区±5）帧被排除在匹配过程之外，以避免匹配相邻点云。然后，我们改变最近邻距离的距离阈值来确定匹配。如果一