DBLD-SLAM: A Deep-Learning Visual SLAM System Based on Deep Binary Local Descriptor

Author(s):  
Xuefeng Gu ◽  
Yafei Wang ◽  
Taiyuan Ma
2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Preetha Jagannathan ◽  
Sujatha Rajkumar ◽  
Jaroslav Frnda ◽  
Parameshachari Bidare Divakarachari ◽  
Prabu Subramani

In recent decades, automatic vehicle classification plays a vital role in intelligent transportation systems and visual traffic surveillance systems. Especially in countries that imposed a lockdown (mobility restrictions help reduce the spread of COVID-19), it becomes important to curtail the movement of vehicles as much as possible. For an effective visual traffic surveillance system, it is essential to detect vehicles from the images and classify the vehicles into different types (e.g., bus, car, and pickup truck). Most of the existing research studies focused only on maximizing the percentage of predictions, which have poor real-time performance and consume more computing resources. To highlight the problems of classifying imbalanced data, a new technique is proposed in this research article for vehicle type classification. Initially, the data are collected from the Beijing Institute of Technology Vehicle Dataset and the MIOvision Traffic Camera Dataset. In addition, adaptive histogram equalization and the Gaussian mixture model are implemented for enhancing the quality of collected vehicle images and to detect vehicles from the denoised images. Then, the Steerable Pyramid Transform and the Weber Local Descriptor are employed to extract the feature vectors from the detected vehicles. Finally, the extracted features are given as the input to an ensemble deep learning technique for vehicle classification. In the simulation phase, the proposed ensemble deep learning technique obtained 99.13% and 99.28% of classification accuracy on the MIOvision Traffic Camera Dataset and the Beijing Institute of Technology Vehicle Dataset. The obtained results are effective compared to the standard existing benchmark techniques on both datasets.


2019 ◽  
Vol 1 (3) ◽  
pp. 177-184
Author(s):  
Chao Duan ◽  
Steffen Junginger ◽  
Jiahao Huang ◽  
Kairong Jin ◽  
Kerstin Thurow

Abstract Visual SLAM (Simultaneously Localization and Mapping) is a solution to achieve localization and mapping of robots simultaneously. Significant achievements have been made during the past decades, geography-based methods are becoming more and more successful in dealing with static environments. However, they still cannot handle a challenging environment. With the great achievements of deep learning methods in the field of computer vision, there is a trend of applying deep learning methods to visual SLAM. In this paper, the latest research progress of deep learning applied to the field of visual SLAM is reviewed. The outstanding research results of deep learning visual odometry and deep learning loop closure detect are summarized. Finally, future development directions of visual SLAM based on deep learning is prospected.


2020 ◽  
Author(s):  
Hudson Bruno ◽  
Esther Colombini

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been successfully used to get the environment’s features to perform SLAM, which is referred to as visual SLAM (VSLAM). However, classical VSLAM algorithms can be easily induced to fail when the robot motion or the environment is too challenging. Although new approaches based on Deep Neural Networks (DNNs) have achieved promising results in VSLAM, they still are unable to outperform traditional methods. To leverage the robustness of deep learning to enhance traditional VSLAM systems, we propose to combine the potential of deep learning-based feature descriptors with the traditional geometry-based VSLAM, building a new VSLAM system called LIFT-SLAM. Experiments conducted on KITTI and Euroc datasets show that deep learning can be used to improve the performance of traditional VSLAM systems, as the proposed approach was able to achieve results comparable to the state-of-the-art while being robust to sensorial noise. We enhance the proposed VSLAM pipeline by avoiding parameter tuning for specific datasets with an adaptive approach while evaluating how transfer learning can affect the quality of the features extracted.


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