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arXiv · 2405.03413

A real-time, robust and versatile visual-SLAM framework based on deep learning networks

Zhang Xiao·Shuaixin Li
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Abstract

This paper explores how deep learning techniques can improve visual-based SLAM performance in challenging environments. By combining deep feature extraction and deep matching methods, we introduce a versatile hybrid visual SLAM system designed to enhance adaptability in challenging scenarios, such as low-light conditions, dynamic lighting, weak-texture areas, and severe jitter. Our system supports multiple modes, including monocular, stereo, monocular-inertial, and stereo-inertial configurations. We also perform analysis how to combine visual SLAM with deep learning methods to enlighten other researches. Through extensive experiments on both public datasets and self-sampled data, we demonstrate the superiority of the SL-SLAM system over traditional approaches. The experimental results show that SL-SLAM outperforms state-of-the-art SLAM algorithms in terms of localization accuracy and tracking robustness. For the benefit of community, we make public the source code at https://github.com/zzzzxxxx111/SLslam.

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Zhang Xiao, Shuaixin Li. 2024-05-06. A real-time, robust and versatile visual-SLAM framework based on deep learning networks. https://arxiv.org/abs/2405.03413

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