Amir Zarringhalam, Saeid Shiry Ghidary, Ali Mohades, Seyed-Ali Sadegh-Zadeh
{"title":"使用 HGCN 在视觉 SLAM 中进行半监督矢量量化","authors":"Amir Zarringhalam, Saeid Shiry Ghidary, Ali Mohades, Seyed-Ali Sadegh-Zadeh","doi":"10.1155/2024/9992159","DOIUrl":null,"url":null,"abstract":"<p>We present a novel vector quantization (VQ) module for the two state-of-the-art long-range simultaneous localization and mapping (SLAM) algorithms. The VQ task in SLAM is generally performed using unsupervised methods. We provide an alternative approach trough embedding a semisupervised hyperbolic graph convolutional neural network (HGCN) in the VQ step of the SLAM processes. The SLAM platforms we have utilized for this purpose are fast appearance-based mapping (FABMAP) and oriented fast and rotated short (ORB), both of which rely on extracting the features of the captured images in their loop closure detection (LCD) module. For the first time, we have considered the space formed by these SURF features, robust image descriptors, as a graph, enabling us to apply an HGCN in the VQ section which results in an improved LCD performance. The HGCN vector quantizes the SURF feature space, leading to a bag-of-word (BoW) representation construction of the images. This representation is subsequently used to determine LCD accuracy and recall. Our approaches in this study are referred to as HGCN-FABMAP and HGCN-ORB. The main advantage of using HGCN in the LCD section is that it scales linearly when the features are accumulated. The benchmarking experiments show the superiority of our methods in terms of both trajectory generation accuracy in small-scale paths and LCD accuracy and recall for large-scale problems.</p>","PeriodicalId":14089,"journal":{"name":"International Journal of Intelligent Systems","volume":null,"pages":null},"PeriodicalIF":5.0000,"publicationDate":"2024-02-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Semisupervised Vector Quantization in Visual SLAM Using HGCN\",\"authors\":\"Amir Zarringhalam, Saeid Shiry Ghidary, Ali Mohades, Seyed-Ali Sadegh-Zadeh\",\"doi\":\"10.1155/2024/9992159\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>We present a novel vector quantization (VQ) module for the two state-of-the-art long-range simultaneous localization and mapping (SLAM) algorithms. The VQ task in SLAM is generally performed using unsupervised methods. We provide an alternative approach trough embedding a semisupervised hyperbolic graph convolutional neural network (HGCN) in the VQ step of the SLAM processes. The SLAM platforms we have utilized for this purpose are fast appearance-based mapping (FABMAP) and oriented fast and rotated short (ORB), both of which rely on extracting the features of the captured images in their loop closure detection (LCD) module. For the first time, we have considered the space formed by these SURF features, robust image descriptors, as a graph, enabling us to apply an HGCN in the VQ section which results in an improved LCD performance. The HGCN vector quantizes the SURF feature space, leading to a bag-of-word (BoW) representation construction of the images. This representation is subsequently used to determine LCD accuracy and recall. Our approaches in this study are referred to as HGCN-FABMAP and HGCN-ORB. The main advantage of using HGCN in the LCD section is that it scales linearly when the features are accumulated. The benchmarking experiments show the superiority of our methods in terms of both trajectory generation accuracy in small-scale paths and LCD accuracy and recall for large-scale problems.</p>\",\"PeriodicalId\":14089,\"journal\":{\"name\":\"International Journal of Intelligent Systems\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":5.0000,\"publicationDate\":\"2024-02-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Systems\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1155/2024/9992159\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Systems","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1155/2024/9992159","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
Semisupervised Vector Quantization in Visual SLAM Using HGCN
We present a novel vector quantization (VQ) module for the two state-of-the-art long-range simultaneous localization and mapping (SLAM) algorithms. The VQ task in SLAM is generally performed using unsupervised methods. We provide an alternative approach trough embedding a semisupervised hyperbolic graph convolutional neural network (HGCN) in the VQ step of the SLAM processes. The SLAM platforms we have utilized for this purpose are fast appearance-based mapping (FABMAP) and oriented fast and rotated short (ORB), both of which rely on extracting the features of the captured images in their loop closure detection (LCD) module. For the first time, we have considered the space formed by these SURF features, robust image descriptors, as a graph, enabling us to apply an HGCN in the VQ section which results in an improved LCD performance. The HGCN vector quantizes the SURF feature space, leading to a bag-of-word (BoW) representation construction of the images. This representation is subsequently used to determine LCD accuracy and recall. Our approaches in this study are referred to as HGCN-FABMAP and HGCN-ORB. The main advantage of using HGCN in the LCD section is that it scales linearly when the features are accumulated. The benchmarking experiments show the superiority of our methods in terms of both trajectory generation accuracy in small-scale paths and LCD accuracy and recall for large-scale problems.
期刊介绍:
The International Journal of Intelligent Systems serves as a forum for individuals interested in tapping into the vast theories based on intelligent systems construction. With its peer-reviewed format, the journal explores several fascinating editorials written by today''s experts in the field. Because new developments are being introduced each day, there''s much to be learned — examination, analysis creation, information retrieval, man–computer interactions, and more. The International Journal of Intelligent Systems uses charts and illustrations to demonstrate these ground-breaking issues, and encourages readers to share their thoughts and experiences.