Online 3D behavioral tracking of aquatic model organism with a dual-camera system

Wu, Zewei; Wang, Cui; Zhang, Wei; Sun, Guodong; Ke, Wei; Xiong, Zhang

doi:10.1016/j.aei.2024.102481

Cited by 2 publications

(1 citation statement)

References 51 publications

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“…Vision-based loop-closure detection techniques hinge on visual features extracted from the surrounding environment. These features predominantly originate from scenes replete with textures, such as the facades of buildings or road signage [ 5 , 6 , 7 ]. Through the utilization of methodologies like bag-of-words modeling, the system possesses the capability to swiftly identify candidate loop-closure frames bearing similarities to the present scene amidst an extensive corpus of imagery [ 8 , 9 ].…”

Section: Introductionmentioning

confidence: 99%

TS-LCD: Two-Stage Loop-Closure Detection Based on Heterogeneous Data Fusion

Jiang,

Wang,

You

et al. 2024

Sensors

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Loop-closure detection plays a pivotal role in simultaneous localization and mapping (SLAM). It serves to minimize cumulative errors and ensure the overall consistency of the generated map. This paper introduces a multi-sensor fusion-based loop-closure detection scheme (TS-LCD) to address the challenges of low robustness and inaccurate loop-closure detection encountered in single-sensor systems under varying lighting conditions and structurally similar environments. Our method comprises two innovative components: a timestamp synchronization method based on data processing and interpolation, and a two-order loop-closure detection scheme based on the fusion validation of visual and laser loops. Experimental results on the publicly available KITTI dataset reveal that the proposed method outperforms baseline algorithms, achieving a significant average reduction of 2.76% in the trajectory error (TE) and a notable decrease of 1.381 m per 100 m in the relative error (RE). Furthermore, it boosts loop-closure detection efficiency by an average of 15.5%, thereby effectively enhancing the positioning accuracy of odometry.

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