Semantic Loopback Detection Method Based on Instance Segmentation and Visual SLAM in Autonomous Driving
Li Huang, Zhe Zhu, Juntong Yun, Manman Xu, Ying Liu, Ying Sun, Jun Hu, Fazeng Li
Abstract
Autonomous driving has gradually become a research hotspot in recent years, but the robustness of loopback detection in complex environments such as dynamic and weak textures needs to be improved. A semantic loopback detection method is proposed based on instance segmentation and visual SLAM to make sufficient use of semantic information in autonomous driving. The proposed method combines image segmentation and visual SLAM (Simultaneous Localization and Mapping) to construct a semantic SLAM system. What’s more, a data association method that combines semantic and geometric information is proposed to improve the traditional loopback detection method by using semantic information to increase the accuracy of loopback detection. The result of experiment on the TUM public dataset shows that the loopback detection accuracy of the improved loopback detection method is higher than that of the bag-of-words method in all four datasets, and our proposed algorithm can effectively improve the accuracy of loopback detection of the SLAM system in general.