RESUMEN
We propose a visual Simultaneous Localization and Mapping (SLAM) algorithm that integrates target detection and clustering techniques in dynamic scenarios to address the vulnerability of traditional SLAM algorithms to moving targets. The proposed algorithm integrates the target detection module into the front end of the SLAM and identifies dynamic objects within the visual range by improving the YOLOv5. Feature points associated with the dynamic objects are disregarded, and only those that correspond to static targets are utilized for frame-to-frame matching. This approach effectively addresses the camera pose estimation in dynamic environments, enhances system positioning accuracy, and optimizes the visual SLAM performance. Experiments on the TUM public dataset and comparison with the traditional ORB-SLAM3 algorithm and DS-SLAM algorithm validate that the proposed visual SLAM algorithm demonstrates an average improvement of 85.70 and 30.92% in positioning accuracy in highly dynamic scenarios. In comparison to the DynaSLAM system using MASK-RCNN, our system exhibits superior real-time performance while maintaining a comparable ATE index. These results highlight that our pro-posed SLAM algorithm effectively reduces pose estimation errors, enhances positioning accuracy, and showcases enhanced robustness compared to conventional visual SLAM algorithms.
RESUMEN
The grey wolf optimizer is a widely used parametric optimization algorithm. It is affected by the structure and rank of grey wolves and is prone to falling into the local optimum. In this study, we propose a grey wolf optimizer for fusion cell-like P systems. Cell-like P systems can parallelize computation and communicate from cell membrane to cell membrane, which can help the grey wolf optimizer jump out of the local optimum. Design new convergence factors and use different convergence factors in other cell membranes to balance the overall exploration and utilization capabilities of the algorithm. At the same time, dynamic weights are introduced to accelerate the convergence speed of the algorithm. Experiments are performed on 24 test functions to verify their global optimization performance. Meanwhile, a support vector machine model optimized by the grey wolf optimizer for fusion cell-like P systems has been developed and tested on six benchmark datasets. Finally, the optimizing ability of grey wolf optimizer for fusion cell-like P systems on constrained optimization problems is verified on three real engineering design problems. Compared with other algorithms, grey wolf optimizer for fusion cell-like P systems obtains higher accuracy and faster convergence speed on the test function, and at the same time, it can find a better parameter set stably for the optimization of support vector machine parameters, in addition to being more competitive on constrained engineering design problems. The results show that grey wolf optimizer for fusion cell-like P systems improves the searching ability of the population, has a better ability to jump out of the local optimum, has a faster convergence speed, and has better stability.