基于点云结构相似性的水下声呐回环检测
Point Cloud Structural Similarity-based Underwater Sonar Loop Detection
AI总结：
针对水下声呐SLAM回环检测中投影、关键点及训练依赖问题，提出直接比较三维点云结构特征的旋转不变方法，并在两个真实数据集上取得最优性能。
摘要：
在这封信中，我们提出了一种基于点云结构相似性的回环检测方法，用于使用声呐传感器的水下同步定位与地图构建。现有基于声呐的回环检测方法通常依赖二维投影和关键点提取，这会导致数据丢失，并在特征稀缺环境中性能较差。此外，基于神经网络或词袋模型的方法需要大量预处理，例如模型训练或词汇表创建，降低了对新环境的适应能力。为应对这些挑战，我们的方法直接利用三维声呐点云而不进行投影，并基于几何、法线和曲率计算逐点结构特征图。通过利用旋转不变相似性比较，所提方法无需关键点检测，并确保在多种水下地形上实现鲁棒的回环检测。我们使用两个真实世界数据集验证了该方法：从深水获取的 Antarctica 数据集，以及从河流和湖泊采集的 Seaward 数据集。实验结果表明，与现有基于关键点和基于学习的方法相比，我们的方法取得了最高的回环检测性能，同时无需额外训练或预处理。我们的代码可在 https://github.com/donghwijung/point_cloud_structural_similarity_based_underwater_sonar_loop_detection 获取。
英文摘要：
In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection and keypoint extraction, which can lead to data loss and poor performance in feature-scarce environments. Additionally, methods based on neural networks or Bag-of-Words require extensive preprocessing, such as model training or vocabulary creation, reducing adaptability to new environments. To address these challenges, our method directly utilizes 3D sonar point clouds without projection and computes point-wise structural feature maps based on geometry, normals, and curvature. By leveraging rotation-invariant similarity comparisons, the proposed approach eliminates the need for keypoint detection and ensures robust loop detection across diverse underwater terrains. We validate our method using two real-world datasets: the Antarctica dataset obtained from deep underwater and the Seaward dataset collected from rivers and lakes. Experimental results show that our method achieves the highest loop detection performance compared to existing keypointbased and learning-based approaches while requiring no additional training or preprocessing. Our code is available at https://github.com/donghwijung/point_cloud_structural_similarity_based_underwater_sonar_loop_detection.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
