编码(内存)
人工智能
计算机科学
人工神经网络
计算机视觉
语音识别
模式识别(心理学)
作者
Xingming Wu,Zimeng Liu,Y. Tian,Zhong Liu,Weihai Chen
出处
期刊:IEEE Transactions on Instrumentation and Measurement
[Institute of Electrical and Electronics Engineers]
日期:2024-01-01
卷期号:73: 1-12
标识
DOI:10.1109/tim.2024.3378264
摘要
In recent years, the combination of neural implicit representations with Simultaneous Localization and Mapping (SLAM) has shown promising advancements. Nevertheless, the existing methods suffer from drawbacks including poor localization accuracy and the absence of loop closure modules, resulting in suboptimal localization accuracy and issues such as ghosting and blurring in the reconstruction. To overcome these challenges, we propose a novel architecture "Keypoints and Neural implicit encoding SLAM" (KN-SLAM), a combination of feature-based localization and neural implicit representations for mapping, which aims to achieve better reconstruction quality while ensuring high localization accuracy. Moreover, we leverage global and local features to achieve loop closure detection and global optimization, which can further reduce cumulative errors. Comprehensive experiments demonstrate that KN-SLAM can achieve the competitive performance in both map quality and localization accuracy.
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