A visual SLAM loop closure detection method based on lightweight siamese capsule network

摘要

Loop closure detection is a key module in visual SLAM. During the robot's movement, the cumulative error of the robot is reduced by the loop closure detection method, which can provide constraints for the back-end pose optimization, and the SLAM system can build an accurate map. Traditional loop closure detection algorithms rely on the bag-of-words model, which involves a complex process, has slow loading speeds, and is sensitive to changes in illumination or viewing angles. Therefore, aiming at the problems of traditional methods, this paper proposes an algorithm based on the Siamese capsule neural network by using the deep learning method. We have designed a new feature extractor for capsule networks, and in order to further reduce the parameter count, we have performed pruning based on the characteristics of the capsule layer. The algorithm was tested on the CityCentre dataset and the New College dataset. Our experimental results show that the proposed algorithm in this paper has higher accuracy and robustness compared to traditional methods and other deep learning methods. Our algorithm demonstrates good robustness under changes in illumination and viewing angles. Finally, we evaluated the performance of the complete SLAM system on the KITTI dataset.