RWT-SLAM: Robust Visual SLAM for Weakly Textured Environments
As a fundamental task for intelligent robots, visual SLAM has made significant progress in recent years. However, robust SLAM in weakly textured environments remains a challenging task. In this paper, we present a novel visual Robust SLAM for Weak-Textured environments (RWT-SLAM) to address this pro...
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Published in | 2024 IEEE Intelligent Vehicles Symposium (IV) pp. 913 - 919 |
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Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
02.06.2024
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Subjects | |
Online Access | Get full text |
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Summary: | As a fundamental task for intelligent robots, visual SLAM has made significant progress in recent years. However, robust SLAM in weakly textured environments remains a challenging task. In this paper, we present a novel visual Robust SLAM for Weak-Textured environments (RWT-SLAM) to address this problem. Unlike existing methods that use detector-based deep networks for interest point detection, we propose extracting distinctive features from a detector-free based network, namely LoFTR, to avoid the difficulty of manual annotations of feature points in weakly textured images. We generate multi-level feature vectors from LoFTR to form dense descriptors for each pixel in the input image. A keypoint localization component is then proposed to measure the saliency of the descriptors and select the distinctive pixels as keypoints. We integrate this new keypoint into the popular ORB-SLAM framework and compare it with the state-of-the-art methods. Extensive experiments on popular TUM RGB-D, OpenLORIS-Scene, as well as our own dataset are carried out. The results demonstrate the superior performance of our method in weakly textured environments. |
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ISSN: | 2642-7214 |
DOI: | 10.1109/IV55156.2024.10588822 |