Author Affiliations
1College of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, Anhui, China2Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Wuhu 241000, Anhui, China3Wuhu Googol Automation Technology Co., Ltd., Wuhu 241000, Anhui, Chinashow less
Fig. 1. System framework diagram
Fig. 2. Framework diagram of mixed attention Mask-RCNN algorithm
Fig. 3. Proposed backbone network structure
Fig. 4. Spatial attention structure
Fig. 5. Channel attention structure
Fig. 6. Flow chart of mismatching remove
Fig. 7. Instance segmentation results in 02 and 07 sequences. (a)(c) Pre-improved algorithm; (b) (d) proposed algorithm
Fig. 8. Matching results in 00 sequence. (a) SURF feature matching results; (b) ORB feature matching results; (c) proposed algorithm feature matching results
Fig. 9. Operating trajectories in different sequences on KITTI. (a) 10 sequence; (b) 01 sequence; (c) 06 sequence; (d) 07 sequence; (e) 09 sequence; (f) 00 sequence
Fig. 10. Processing time per frame on three algorithms. (a) ORB-SLAM2; (b) DS-SLAM; (c) proposed algorithm
Fig. 11. TurtleBot3 Burger
Fig. 12. Real experimental environment scene. (a) Real scene; (b) layout plan
Fig. 13. Image of pentacle position for the first time. (a) Instance segmentation result of pre-improved algorithm; (b) instance segmentation result of proposed algorithm
Fig. 14. Image of pentacle position for the second time. (a) Instance segmentation result of pre-improved algorithm; (b) instance segmentation result of proposed algorithm
Fig. 15. Operating trajectory in real scene
Number | Type | Area | Value |
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0 | Conv1_x-Output | ResNet-50,Conv1_x | (64,H/4,W/4) | 1 | Conv2_x-Output | ResNet-50,Conv2_x | (256,H/4,W/4) | 2 | Conv3_x-Output | ResNet-50,Conv3_x | (512,H/8,W/8) | 3 | Conv4_x-Output | ResNet-50,Conv4_x | (1024,H/16,W/16) | 4 | Conv5_x-Output | ResNet-50,Conv5_x | (2048,H/32,W/32) | 5 | Upsample stride | FPN | 2 | 6 | Convolution kernel size | Spatial attention | 7×7 | 7 | Activation function | Spatial attention | Sigmoid | 8 | Activation function | Channel attetion-MLP | ReLU | 9 | Activation function | Channel attention | Sigmoid |
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Table 1. Main parameter of mixed attention backbone network
Algorithm | Backbone | AP /% |
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AP | AP50 | AP75 | APS | APM | APL |
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Mask-RCNN | ResNet-50-FPN | 33.4 | 54.9 | 35.3 | 14.7 | 35.2 | 50.1 | Proposed algorithm | ResNet-50-MAM-FPN | 34.9 | 57.5 | 36.9 | 15.3 | 36.9 | 52.5 |
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Table 2. Comparison of algorithm test results in AP
Sequence | SURF | ORB | Proposed algorithm |
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Matching pairs | Effective matching pairs | Effective matching rate /% | Matching time /s | Matching pairs | Effective matching pairs | Effective matching rate /% | Matching time /s | Matching pairs | Effective matching pairs | Effective matching rate /% | Matching time /s |
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00 | 1235 | 1002 | 81.1 | 0.1156 | 512 | 395 | 77.1 | 0.0089 | 494 | 392 | 79.4 | 0.0115 | 01 | 1254 | 1030 | 82.1 | 0.1172 | 490 | 381 | 77.8 | 0.0084 | 489 | 396 | 81.0 | 0.0097 | 06 | 1560 | 1264 | 81.0 | 0.1405 | 607 | 457 | 75.3 | 0.0094 | 524 | 424 | 80.9 | 0.0122 | 07 | 1438 | 1196 | 83.2 | 0.1281 | 530 | 405 | 76.4 | 0.0090 | 507 | 426 | 84.0 | 0.0119 | 09 | 1320 | 1088 | 82.4 | 0.1261 | 507 | 390 | 76.9 | 0.0086 | 501 | 412 | 82.2 | 0.0102 | 10 | 1480 | 1210 | 81.8 | 0.1364 | 552 | 424 | 76.8 | 0.0092 | 514 | 424 | 82.5 | 0.0121 | Average | 1381 | 1132 | 81.9 | 0.1273 | 533 | 409 | 76.7 | 0.0089 | 505 | 412 | 81.7 | 0.0113 | Variance | 14376 | 9476 | 0.57 | 0.083×10-3 | 4568 | 648 | 0.58 | 0.115×10-6 | 140 | 190 | 2.1 | 0.937×10-6 |
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Table 3. Comparison of effective matching rate and matching time on KITTI
Sequence | ORB-SLAM2 | DS-SLAM | Proposed algorithm |
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Average distance Error /m | Average angle Error /m | Precision rate of loop detection /% | Average distance Error /m | Average angle Error /m | Precision rate of loop detection /% | Average distance Error /m | Average angle Error /m | Precision rate of loop detection /% |
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10 | 3.15 | 1.55 | | 2.62 | 0.94 | | 2.01 | 0.82 | | 01 | 3.26 | 1.39 | | 3.01 | 0.88 | | 2.32 | 0.79 | | 06 | 2.99 | 1.57 | 77.9 | 2.51 | 0.79 | 82.3 | 2.38 | 0.73 | 86.4 | 07 | 3.05 | 1.30 | | 2.72 | 0.61 | | 2.53 | 0.50 | | 09 | 3.11 | 1.43 | | 2.87 | 0.85 | | 2.14 | 0.72 | | 00 | 3.64 | 1.24 | 76.6 | 2.94 | 0.97 | 80.4 | 2.54 | 0.87 | 84.7 |
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Table 4. Comparison of operating results on KITTI
Variable | Parameter | Value |
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Running velocity | Vs | 0.15 m/s | Rotating velocity | Vθ | 2.1 rad/s | Range of directional | Θ | [0,2π] | Camera sampling frequency | H | 30 frame/s |
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Table 5. Operation parameters setting
Index | RMSE /m | Time /s | Precision rate of loop detection /% |
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Proposed algorithm | 0.52 | 270 | 85.3 |
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Table 6. Comparison of running results in real scene