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• W4387615110 abstract "Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to dynamic real-world environments. The correctness of re-localization and recall of loop closure detection are both lower when the mobile robot loses frames in a dynamic environment. Thus, in this paper, the re-localization and loop closure detection method with a semantic topology graph based on ORB-SLAM2 is proposed. First, we use YOLOv5 for object detection and label the recognized dynamic and static objects. Secondly, the topology graph is constructed using the position information of static objects in space. Then, we propose a weight expression for the topology graph to calculate the similarity of topology in different keyframes. Finally, the re-localization and loop closure detection are determined based on the value of topology similarity. Experiments on public datasets show that the semantic topology graph is effective in improving the correct rate of re-localization and the accuracy of loop closure detection in a dynamic environment." @default.
• W4387615110 created "2023-10-14" @default.
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• W4387615110 date "2023-10-13" @default.
• W4387615110 modified "2023-10-17" @default.
• W4387615110 title "A Semantic Topology Graph to Detect Re-Localization and Loop Closure of the Visual Simultaneous Localization and Mapping System in a Dynamic Environment" @default.
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• W4387615110 doi "https://doi.org/10.3390/s23208445" @default.
• W4387615110 hasPublicationYear "2023" @default.
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