HFS: an intelligent heuristic feature selection scheme to correct uncertainty

Abstract

In recent years, some researchers have combined deep learning methods such as semantic segmentation with a visual SLAM to improve the performance of classical visual SLAM. However, the above method introduces the uncertainty of the neural network model. To solve the above problems, an improved feature selection method based on information entropy and feature semantic uncertainty is proposed in this paper. The former is used to obtain fewer and higher quality feature points, while the latter is used to correct the uncertainty of the network in feature selection. At the same time, in the initial stage of feature point selection, this paper first filters and eliminates the absolute dynamic object feature points in the a priori information provided by the feature point semantic label. Secondly, the potential static objects can be detected combined with the principle of epipolar geometric constraints. Finally, the semantic uncertainty of features is corrected according to the semantic context. Experiments on the KITTI odometer data set show that compared with SIVO, the translation error is reduced by 12.63% and the rotation error is reduced by 22.09%, indicating that our method has better tracking performance than the baseline method.