Robust monocular SLAM is challenged by image distortions and non-uniform keypoint distributions. This paper introduces SED-SLAM, a novel system enhancing distortion resilience through spatially equalized deep feature extraction. At its core, a lightweight Mobile-Superpoint network extracts discriminative features, while our proposed Spatially Adaptive Thresholding (SAT) module ensures their uniform spatial coverage by adaptively regulating keypoint selection. Experiments on public benchmarks demonstrate that SED-SLAM achieves superior trajectory accuracy and robustness under various image distortions with real-time efficiency. These results validate that jointly optimizing feature quality and spatial balance is critical for enhancing SLAM performance in challenging environments.

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SED-SLAM: Enhancing Monocular SLAM Under Image Distortions via Spatially Equalized Deep Feature

  • Longze Zhu,
  • Li Yan,
  • Hong Xie,
  • Xi Yang,
  • Xiaoteng Yang,
  • Aoran Li

摘要

Robust monocular SLAM is challenged by image distortions and non-uniform keypoint distributions. This paper introduces SED-SLAM, a novel system enhancing distortion resilience through spatially equalized deep feature extraction. At its core, a lightweight Mobile-Superpoint network extracts discriminative features, while our proposed Spatially Adaptive Thresholding (SAT) module ensures their uniform spatial coverage by adaptively regulating keypoint selection. Experiments on public benchmarks demonstrate that SED-SLAM achieves superior trajectory accuracy and robustness under various image distortions with real-time efficiency. These results validate that jointly optimizing feature quality and spatial balance is critical for enhancing SLAM performance in challenging environments.