FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3048544078> ?p ?o ?g. }

• W3048544078 abstract "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 https://github.com/ivipsourcecode/dxslam." @default.
• W3048544078 created "2020-08-18" @default.
• W3048544078 creator A5005386670 @default.
• W3048544078 creator A5007956048 @default.
• W3048544078 creator A5010192477 @default.
• W3048544078 creator A5015788956 @default.
• W3048544078 creator A5035944440 @default.
• W3048544078 creator A5045708058 @default.
• W3048544078 creator A5047341502 @default.
• W3048544078 creator A5063901096 @default.
• W3048544078 date "2020-08-12" @default.
• W3048544078 modified "2023-09-27" @default.
• W3048544078 title "DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features" @default.
• W3048544078 cites W1491719799 @default.
• W3048544078 cites W1929856797 @default.
• W3048544078 cites W1955055330 @default.
• W3048544078 cites W2021851106 @default.
• W3048544078 cites W2085261163 @default.
• W3048544078 cites W2117228865 @default.
• W3048544078 cites W2128017662 @default.
• W3048544078 cites W2128237624 @default.
• W3048544078 cites W2130103520 @default.
• W3048544078 cites W2144824356 @default.
• W3048544078 cites W2151103935 @default.
• W3048544078 cites W2152671441 @default.
• W3048544078 cites W2155056756 @default.
• W3048544078 cites W2162536300 @default.
• W3048544078 cites W2179042386 @default.
• W3048544078 cites W2200124539 @default.
• W3048544078 cites W2439114332 @default.
• W3048544078 cites W2592936284 @default.
• W3048544078 cites W2598706937 @default.
• W3048544078 cites W2612112834 @default.
• W3048544078 cites W2745859992 @default.
• W3048544078 cites W2769441038 @default.
• W3048544078 cites W2785746569 @default.
• W3048544078 cites W2793027874 @default.
• W3048544078 cites W2944011193 @default.
• W3048544078 cites W2950989657 @default.
• W3048544078 cites W2960033181 @default.
• W3048544078 cites W2962705366 @default.
• W3048544078 cites W2963157250 @default.
• W3048544078 cites W2966911063 @default.
• W3048544078 cites W2999502853 @default.
• W3048544078 cites W3004213029 @default.
• W3048544078 cites W3006524014 @default.
• W3048544078 cites W3035606217 @default.
• W3048544078 cites W3043075211 @default.
• W3048544078 cites W3089936780 @default.
• W3048544078 cites W3102327032 @default.
• W3048544078 cites W3103648783 @default.
• W3048544078 cites W3124420883 @default.
• W3048544078 cites W3165610079 @default.
• W3048544078 doi "https://doi.org/10.48550/arxiv.2008.05416" @default.
• W3048544078 hasPublicationYear "2020" @default.
• W3048544078 type Work @default.
• W3048544078 sameAs 3048544078 @default.
• W3048544078 citedByCount "1" @default.
• W3048544078 countsByYear W30485440782021 @default.
• W3048544078 crossrefType "posted-content" @default.
• W3048544078 hasAuthorship W3048544078A5005386670 @default.
• W3048544078 hasAuthorship W3048544078A5007956048 @default.
• W3048544078 hasAuthorship W3048544078A5010192477 @default.
• W3048544078 hasAuthorship W3048544078A5015788956 @default.
• W3048544078 hasAuthorship W3048544078A5035944440 @default.
• W3048544078 hasAuthorship W3048544078A5045708058 @default.
• W3048544078 hasAuthorship W3048544078A5047341502 @default.
• W3048544078 hasAuthorship W3048544078A5063901096 @default.
• W3048544078 hasBestOaLocation W30485440781 @default.
• W3048544078 hasConcept C104317684 @default.
• W3048544078 hasConcept C108583219 @default.
• W3048544078 hasConcept C138885662 @default.
• W3048544078 hasConcept C150552126 @default.
• W3048544078 hasConcept C154945302 @default.
• W3048544078 hasConcept C173608175 @default.
• W3048544078 hasConcept C185592680 @default.
• W3048544078 hasConcept C19966478 @default.
• W3048544078 hasConcept C2776401178 @default.
• W3048544078 hasConcept C2777601683 @default.
• W3048544078 hasConcept C31972630 @default.
• W3048544078 hasConcept C41008148 @default.
• W3048544078 hasConcept C41895202 @default.
• W3048544078 hasConcept C52622490 @default.
• W3048544078 hasConcept C55493867 @default.
• W3048544078 hasConcept C63479239 @default.
• W3048544078 hasConcept C81363708 @default.
• W3048544078 hasConcept C86369673 @default.
• W3048544078 hasConcept C90509273 @default.
• W3048544078 hasConceptScore W3048544078C104317684 @default.
• W3048544078 hasConceptScore W3048544078C108583219 @default.
• W3048544078 hasConceptScore W3048544078C138885662 @default.
• W3048544078 hasConceptScore W3048544078C150552126 @default.
• W3048544078 hasConceptScore W3048544078C154945302 @default.
• W3048544078 hasConceptScore W3048544078C173608175 @default.
• W3048544078 hasConceptScore W3048544078C185592680 @default.
• W3048544078 hasConceptScore W3048544078C19966478 @default.
• W3048544078 hasConceptScore W3048544078C2776401178 @default.
• W3048544078 hasConceptScore W3048544078C2777601683 @default.
• W3048544078 hasConceptScore W3048544078C31972630 @default.
• W3048544078 hasConceptScore W3048544078C41008148 @default.

• next