Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 7
2101-2105

Loop closure detection algorithm based on soft assignment SIFT features

Sun Jinfeng1,2
Yuan Yizhao1,2
Huang Bin1,2
Yang Zhiyong1,2
1. School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
2. Hubei Key Laboratory of Modern Manufacturing Quantity Engineering, Wuhan 430068, China
DOI: 10.19734/j.issn.1001-3695.2022.11.0558

Abstract

Loop closure detection can eliminate the accumulated error of visual SLAM, which is of great significance to the SLAM system. Among them, the widely used visual bag-of-word model algorithm has the problem of visual word identity and ambiguity, which affects the loop closure detection effect. To improve these problems and loop back detection effect, this paper proposed a loop closure detection algorithm based on soft-assigned SIFT features. The algorithm allocated the SIFT feature points extracted from the image to several words with the closest Euclidean distance, according to the distance sorting and weighting, and removed the feature points that were far away from the words to generate more discriminating descriptors. In addition, when filtering candidates, the algorithm added the proportion constraint of the same word feature points and the stability constraint of word shift to filter out a few candidates. In the experimental results, the algorithm compared with the traditional visual bag-of-words model and several loop closure detection algorithms in recent years, the recall rate at 100% accuracy rate improved under three data sets, and the average image query time was about 40 ms. The results show that the algorithm can improve the loop detection effect and ensure the real-time performance.

Foundation Support

国家自然科学基金项目(51907055)
湖北省教育厅中青年人才项目(Q20191404)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.11.0558
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 7
Section: Algorithm Research & Explore
Pages: 2101-2105
Serial Number: 1001-3695(2023)07-027-2101-05

Publish History

[2023-01-18] Accepted Paper
[2023-07-05] Printed Article

Cite This Article

孙金风, 袁逸钊, 黄斌, 等. 基于软分配SIFT特征的回环检测算法 [J]. 计算机应用研究, 2023, 40 (7): 2101-2105. (Sun Jinfeng, Yuan Yizhao, Huang Bin, et al. Loop closure detection algorithm based on soft assignment SIFT features [J]. Application Research of Computers, 2023, 40 (7): 2101-2105. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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