Author(s)

Hongjie Yu ¹

Affiliation(s)

¹ Energy-efficient Intelligent Systems Laboratory, University of Science and Technology of China, Suzhou, 215028, China

Corresponding Author

ABSTRACT

The core objective is to use deep learning to train an efficient feature detector, which provides a solid foundation for the construction of a feature point SLAM system. The training and optimization of deep learning models usually rely on large-scale labeled data, but for feature detection tasks, the annotation of feature points is abstract and subjective, which makes it difficult to obtain sufficient labeled image data. In order to overcome this challenge, this chapter proposes a dataset generation method that integrates traditional features combined with robust adjustments. By integrating two classical feature detection algorithms, we are able to generate fused feature points in natural scene images. These feature points not only combine the advantages of traditional features, but also enhance the generalization ability of the model through robustness adjustment. Based on this dataset, we use a deep learning framework for model training. By optimizing the network structure and loss function, we successfully trained a deep learning model that can detect two traditional feature points at the same time. 

KEYWORDS

CITE THIS PAPER

Hongjie Yu, A SLAM method based on deep learning. Journal of Electronics and Information Science (2024) Vol. 9: 62-67. DOI: http://dx.doi.org/10.23977/10.23977/jeis.2024.090310.

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