scholarly journals Unsupervised Learning-Based Depth Estimation-Aided Visual SLAM Approach

2019 ◽  
Vol 39 (2) ◽  
pp. 543-570 ◽  
Author(s):  
Mingyang Geng ◽  
Suning Shang ◽  
Bo Ding ◽  
Huaimin Wang ◽  
Pengfei Zhang
Keyword(s):  
Unsupervised Learning ◽  
Depth Estimation ◽  
Visual Slam

Unsupervised learning of depth estimation based on attention model and global pose optimization

2019 ◽  
Vol 78 ◽  
pp. 284-292 ◽  
Author(s):  
Renyue Dai ◽  
Yongbin Gao ◽  
Zhijun Fang ◽  
Xiaoyan Jiang ◽  
Anjie Wang ◽  
...  
Keyword(s):  
Unsupervised Learning ◽  
Depth Estimation ◽  
Attention Model ◽  
Pose Optimization

scholarly journals An Adaptive Unsupervised Learning Framework for Monocular Depth Estimation

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 148142-148151
Author(s):  
Delong Yang ◽  
Xunyu Zhong ◽  
Lixiong Lin ◽  
Xiafu Peng
Keyword(s):  
Unsupervised Learning ◽  
Depth Estimation ◽  
Learning Framework ◽  
Monocular Depth

Unsupervised Learning of Depth Estimation from Video for Bronchoscopic Navigation

2018 ◽  
Author(s):  
Mali Shen ◽  
◽  
Yun Gu ◽  
Pallav Shah ◽  
Guang-Zhong Yang ◽  
...  
Keyword(s):  
Unsupervised Learning ◽  
Depth Estimation

Monocular depth estimation based on unsupervised learning

2019 ◽  
Author(s):  
Wan Liu ◽  
Yan Sun ◽  
XuCheng Wang ◽  
Lin Yang ◽  
Zhenrong Zheng
Keyword(s):  
Unsupervised Learning ◽  
Depth Estimation ◽  
Monocular Depth

scholarly journals A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Qiubo Zhong ◽  
Xiaoyi Fang
Keyword(s):  
Unsupervised Learning ◽  
Recall Rate ◽  
Detection Algorithm ◽  
Detection Methods ◽  
Bag Of Words ◽  
Learning Method ◽  
Visual Slam ◽  
Loop Closure ◽  
Loop Closure Detection ◽  
Main Component

Loop closure detection serves as the fulcrum of improving the accuracy and precision in simultaneous localization and mapping (SLAM). The majority of loop detection methods extract artificial features, which fall short of learning comprehensive data information, but unsupervised learning as a typical deep learning method excels in self-access learning and clustering to analyze the similarity without handling the data. Moreover, the unsupervised learning method does solve restrictions on image quality and singleness semantics in many traditional SLAM methods. Therefore, a loop closure detection strategy based on an unsupervised learning method is proposed in this paper. The main component adopts BigBiGAN to extract features and establish an original bag of words. Then, the complete bag of words is used to detect loop closing. Finally, a considerable validation check of the ORB descriptor is added to verify the result and output outcome of loop closure detection. The proposed algorithm and other compared algorithms are, respectively, applied on Autolabor Pro1 to execute the indoor visual SLAM. The experiment shows that the proposed algorithm increases the recall rate by 20% compared with ORB-SLAM2 and LSD-SLAM. And it also improves at least 40.0% accuracy than others and reduces 14% time loss of ORB-SLAM2. Therefore, the presented SLAM based on BigBiGAN does benefit much the visual SLAM in the indoor environment.

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