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一种基于快速鲁棒特征匹配算法的类脑SLAM导航（英文）.docx

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一种基于快速鲁棒特征匹配算法的类脑SLAM导航（英文） Title:Brain-InspiredSLAMNavigationBasedonFastRobustFeatureMatchingAlgorithm Abstract: SimultaneousLocalizationandMapping(SLAM)playsakeyroleinautonomousnavigationandhasgainedextensiveattentioninroboticsresearch.AlthoughvariousSLAMtechniqueshavebeendeveloped,manychallengesstillexistintermsofreal-timeandrobustness.Thispaperproposesabrain-inspiredSLAMnavigationsystemthatharnessesafastandrobustfeaturematchingalgorithmtoaddressthesechallenges.TheproposedsystemintegratesfeaturesfrombothvisionandneurosciencedomainstoenhancetheperformanceofSLAMnavigation. 1.Introduction(150words) Thefieldofroboticshaswitnessedgreatadvancementsinautonomousnavigation,enablingrobotstoperformtasksinvariousreal-worldenvironments.SLAMisafundamentaltechnologyinautonomousnavigationasitsimultaneouslyestimatesarobot'spositionandmapsthesurroundingenvironment.However,traditionalSLAMalgorithmsoftenfacechallengesintermsofreal-timeprocessingandrobustness.Thispaperintroducesabrain-inspiredSLAMnavigationsystemthatutilizesafastandrobustfeaturematchingalgorithmtoovercometheseissues.TheproposedsystemincorporatesknowledgefrombothcomputervisionandneurosciencetoimprovetheperformanceofSLAMnavigation. 2.OverviewofSLAM(200words) ThissectionprovidesabriefoverviewofSLAM,highlightingitsimportanceinautonomousnavigation.ItexploresthechallengesfacedbytraditionalSLAMalgorithms,suchascomputationalcomplexity,dataassociation,andenvironmentalchanges.Additionally,itdiscussestheneedforreal-timeperformanceandrobustnessinSLAMsystemstoensureaccuratelocalizationandmapping. 3.Brain-InspiredFeatureMatchingAlgorithm(350words) Thissectionintroducesthebrain-inspiredfeaturematchingalgorithm,whichisthecorecomponentoftheproposedSLAMnavigationsystem.Thealgorithmcombinesideasfromcomputervisionandneurosciencetoachievefastandrobustfeaturematching.Itexploresconceptssuchaslocalfeatureextraction,featurematching,andoutlierrejection.Thealgorithmexploitsthebrain'sabilitytoextractrelevantfeaturesandignoreirrelevantinformatio