Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping
Simultaneous Localization and Mapping (SLAM) is the core technology of the intelligent robot system, and it is also the basis for its autonomous movement. In recent years, it has been found that SLAM using a single sensor has certain limitations, such as Inertial Measurement Unit (IMU) noise and ser...
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Format: | Article |
Language: | English |
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IEEE
2023-01-01
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Series: | IEEE Access |
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Online Access: | https://ieeexplore.ieee.org/document/10041119/ |
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author | Chengjun Tian Haobo Liu Zhe Liu Hongyang Li Yuyu Wang |
author_facet | Chengjun Tian Haobo Liu Zhe Liu Hongyang Li Yuyu Wang |
author_sort | Chengjun Tian |
collection | DOAJ |
description | Simultaneous Localization and Mapping (SLAM) is the core technology of the intelligent robot system, and it is also the basis for its autonomous movement. In recent years, it has been found that SLAM using a single sensor has certain limitations, such as Inertial Measurement Unit (IMU) noise and serious drift, and 2D radar can only detect environmental information on the same horizontal plane. In this regard, this paper constructs a multi-sensor back-end fusion SLAM algorithm that combines vision, laser, encoder and IMU information. Experiments have proved that compared with using a single sensor, the application of a multi-sensor fusion system makes the edges of the constructed map clearer and the noise reduced. Aiming at the problem of increased calculation caused by particle degradation and too many particles, this paper improves the Gmappping algorithm, and uses the combination of selective resampling and Kullback-Leibler Distance (KLD) sampling to complete resampling. It has been proved by experiments that compared with the original algorithm of Gmapping, the application of the improved algorithm increases the particle convergence speed by 39.85% in the process of indoor mapping. Aiming at the problems that the traditional loop detection algorithm is easily affected by environmental factors, resulting in low detection accuracy, and the loop detection algorithm based on deep convolutional neural network has a large amount of calculation and takes a long time to detect. The main research of this paper is to apply a deep learning-based loop detection algorithm on the multi-sensor fusion framework, and use the combination of high-dimensional and low-dimensional features of the image for loop detection. This paper uses different algorithms to conduct comparative experiments on the dataset CityCentre. The experimental results show that compared with the traditional algorithms Bag of Words (BoW), AlexNet algorithm, VGG19 algorithm, and ResNet32 algorithm, the accuracy of the algorithm proposed in this paper has increased by 31.26%, 14.21%, 3.05%, and 1.56%, respectively. In addition, the comparison experiment results of SLAM mapping with the original Real-Time Appearance-Based Mapping (RTAB-MAP) algorithm prove that the loop closure detection algorithm based on deep learning proposed in this paper can enable the system to better build a globally consistent map, including more environmental information. |
first_indexed | 2024-04-10T10:05:16Z |
format | Article |
id | doaj.art-08819f6c34da47ffbcccbb83fe7e5126 |
institution | Directory Open Access Journal |
issn | 2169-3536 |
language | English |
last_indexed | 2024-04-10T10:05:16Z |
publishDate | 2023-01-01 |
publisher | IEEE |
record_format | Article |
series | IEEE Access |
spelling | doaj.art-08819f6c34da47ffbcccbb83fe7e51262023-02-16T00:00:23ZengIEEEIEEE Access2169-35362023-01-0111136901370310.1109/ACCESS.2023.324363310041119Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved GmappingChengjun Tian0https://orcid.org/0000-0002-7007-0173Haobo Liu1https://orcid.org/0000-0002-1991-6460Zhe Liu2https://orcid.org/0000-0002-6532-2444Hongyang Li3https://orcid.org/0000-0002-8560-0958Yuyu Wang4https://orcid.org/0000-0003-0568-853XSchool of Electronic Information Engineering, Changchun University of Science and Technology, Changchun, ChinaSchool of Electronic Information Engineering, Changchun University of Science and Technology, Changchun, ChinaSchool of Electronic Information Engineering, Changchun University of Science and Technology, Changchun, ChinaSchool of Electronic Information Engineering, Changchun University of Science and Technology, Changchun, ChinaSchool of Electronic Information Engineering, Changchun University of Science and Technology, Changchun, ChinaSimultaneous Localization and Mapping (SLAM) is the core technology of the intelligent robot system, and it is also the basis for its autonomous movement. In recent years, it has been found that SLAM using a single sensor has certain limitations, such as Inertial Measurement Unit (IMU) noise and serious drift, and 2D radar can only detect environmental information on the same horizontal plane. In this regard, this paper constructs a multi-sensor back-end fusion SLAM algorithm that combines vision, laser, encoder and IMU information. Experiments have proved that compared with using a single sensor, the application of a multi-sensor fusion system makes the edges of the constructed map clearer and the noise reduced. Aiming at the problem of increased calculation caused by particle degradation and too many particles, this paper improves the Gmappping algorithm, and uses the combination of selective resampling and Kullback-Leibler Distance (KLD) sampling to complete resampling. It has been proved by experiments that compared with the original algorithm of Gmapping, the application of the improved algorithm increases the particle convergence speed by 39.85% in the process of indoor mapping. Aiming at the problems that the traditional loop detection algorithm is easily affected by environmental factors, resulting in low detection accuracy, and the loop detection algorithm based on deep convolutional neural network has a large amount of calculation and takes a long time to detect. The main research of this paper is to apply a deep learning-based loop detection algorithm on the multi-sensor fusion framework, and use the combination of high-dimensional and low-dimensional features of the image for loop detection. This paper uses different algorithms to conduct comparative experiments on the dataset CityCentre. The experimental results show that compared with the traditional algorithms Bag of Words (BoW), AlexNet algorithm, VGG19 algorithm, and ResNet32 algorithm, the accuracy of the algorithm proposed in this paper has increased by 31.26%, 14.21%, 3.05%, and 1.56%, respectively. In addition, the comparison experiment results of SLAM mapping with the original Real-Time Appearance-Based Mapping (RTAB-MAP) algorithm prove that the loop closure detection algorithm based on deep learning proposed in this paper can enable the system to better build a globally consistent map, including more environmental information.https://ieeexplore.ieee.org/document/10041119/Laser SLAMGmapping algorithmmulti-sensor fusion SLAM systemloop closure detection |
spellingShingle | Chengjun Tian Haobo Liu Zhe Liu Hongyang Li Yuyu Wang Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping IEEE Access Laser SLAM Gmapping algorithm multi-sensor fusion SLAM system loop closure detection |
title | Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping |
title_full | Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping |
title_fullStr | Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping |
title_full_unstemmed | Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping |
title_short | Research on Multi-Sensor Fusion SLAM Algorithm Based on Improved Gmapping |
title_sort | research on multi sensor fusion slam algorithm based on improved gmapping |
topic | Laser SLAM Gmapping algorithm multi-sensor fusion SLAM system loop closure detection |
url | https://ieeexplore.ieee.org/document/10041119/ |
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