一种用于自动驾驶的模块化闭环检测方案——一种松耦合方法

IF 7.1 2区 计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Wuqi Wang;Haigen Min;Xia Wu;Yukun Fang;Guofa Li;Xiangmo Zhao
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引用次数: 0

摘要

高效、精确的闭环检测对于自动驾驶汽车和机器人来说都至关重要。目前,闭环检测技术可以利用环境测量之间的相似性来识别位置。然而,这些测量中的固有误差对检测性能提出了重大挑战,这在以前的文献中没有得到充分解决。为了解决这些问题,本文提出了一种基于环序列时间相似性的模块化环闭合检测方案,以增强构造映射的一致性,从而提高检测性能。具体而言,根据地图构建过程中闭环发生的特点,定义闭环序列的相似性和可信度,以及相应的准则。基于闭环序列的相似性和可信度,提出了快速滤波和精确匹配策略。然后,开发了一种独立的召回策略,以减轻测量相似度误差对召回的影响。与传统方法不同,该方法以松耦合的方式将时间相似度与现有测量相似度方案相结合,提高了复杂环境下闭环检测的性能和效率。利用KITTI公共数据集和实际现场测试车辆,充分验证了该方法的有效性。研究结果表明,在闭环检测方面取得了显著进步,为自动驾驶技术的发展奠定了坚实的基础。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Modular Loop Closure Detection Scheme for Autonomous Driving: A Loosely Coupled Approach
Efficient and precise loop closure detection is essential for both autonomous vehicles and robotics. Currently, loop closure detection technologies can recognize locations using the similarity between environmental measurements. However, the inherent errors in these measurements present a significant challenge to detection performance, which has not been adequately addressed in the previous literature. To address these issues, this paper proposes a novel modular loop closure detection scheme based on the temporal similarity of loop sequences to enhance the consistency of constructed maps and thereby improve detection performance. Specifically, the similarity and credibility of loop closure sequences, as well as their corresponding criteria, are defined based on the characteristics of loop closure occurrences in map construction. Fast filtering and accurate matching strategies have been developed based on the similarity and credibility of loop closure sequences. An independent recall strategy is then developed to mitigate the impact of measurement similarity errors on recall. Unlike traditional approaches, this method integrates temporal similarity with existing measurement similarity schemes in a loosely coupled manner, improving the performance and efficiency of loop closure detection in complex environments. The effectiveness of the proposed method is sufficiently validated using both the public KITTI dataset and real field-test vehicles. The results demonstrate significant improvements in loop closure detection, providing a solid foundation for the advancement of autonomous driving technologies.
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来源期刊
CiteScore
6.00
自引率
8.80%
发文量
1245
审稿时长
6.3 months
期刊介绍: The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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