Jiansheng Peng^1,2,*, Dunhua Chen¹, Qing Yang¹, Chengjun Yang², Yong Xu², Yong Qin²

CMC-Computers, Materials & Continua, Vol.77, No.3, pp. 3209-3236, 2023, DOI:10.32604/cmc.2023.041898

Abstract Visual simultaneous localization and mapping (SLAM) is crucial in robotics and autonomous driving. However, traditional visual SLAM faces challenges in dynamic environments. To address this issue, researchers have proposed semantic SLAM, which combines object detection, semantic segmentation, instance segmentation, and visual SLAM. Despite the growing body of literature on semantic SLAM, there is currently a lack of comprehensive research on the integration of object detection and visual SLAM. Therefore, this study aims to gather information from multiple databases and review relevant literature using specific keywords. It focuses on visual SLAM based on object detection, covering different aspects. Firstly, it discusses… More >

Chang Zhao¹, Wei Sun^1,3,*, Xiaorui Zhang^2,3, Xiaozheng He⁴, Jun Zuo¹, Wei Zhao¹

Computer Systems Science and Engineering, Vol.45, No.2, pp. 1083-1094, 2023, DOI:10.32604/csse.2023.032786

Abstract The ORB-SLAM2 based on the constant velocity model is difficult to determine the search window of the reprojection of map points when the objects are in variable velocity motion, which leads to a false matching, with an inaccurate pose estimation or failed tracking. To address the challenge above, a new method of feature point matching is proposed in this paper, which combines the variable velocity model with the reverse optical flow method. First, the constant velocity model is extended to a new variable velocity model, and the expanded variable velocity model is used to provide the initial pixel shifting for… More >

Tingting Yang^1,*, Shuwen Jia¹, Ying Yu¹, Zhiyong Sui²

Intelligent Automation & Soft Computing, Vol.35, No.2, pp. 1691-1704, 2023, DOI:10.32604/iasc.2023.027466

Abstract Augmented Reality (AR) tries to seamlessly integrate virtual content into the real world of the user. Ideally, the virtual content would behave exactly like real objects. This necessitates a correct and precise estimation of the user’s viewpoint (or that of a camera) with regard to the virtual content’s coordinate system. Therefore, the real-time establishment of 3-dimension (3D) maps in real scenes is particularly important for augmented reality technology. So in this paper, we integrate Simultaneous Localization and Mapping (SLAM) technology into augmented reality. Our research is to implement an augmented reality system without markers using the ORB-SLAM2 framework algorithm. In… More >

Naigong Yu^*, Hejie Yu

CMES-Computer Modeling in Engineering & Sciences, Vol.131, No.2, pp. 1147-1169, 2022, DOI:10.32604/cmes.2022.019430

Abstract The entorhinal-hippocampus structure in the mammalian brain is the core area for realizing spatial cognition. However, the visual perception and loop detection methods in the current biomimetic robot navigation model still rely on traditional visual SLAM schemes and lack the process of exploring and applying biological visual methods. Based on this, we propose a map construction method that mimics the entorhinal-hippocampal cognitive mechanism of the rat brain according to the response of entorhinal cortex neurons to eye saccades in recent related studies. That is, when mammals are free to watch the scene, the entorhinal cortex neurons will encode the saccade… More >