Atıf İçin Kopyala
Akbaci H. A., Bayraktar E.
Fifth Symposium on Pattern Recognition and Applications, İstanbul, Türkiye, 11 - 13 Kasım 2024, ss.13540-13546
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Yayın Türü:
Bildiri / Tam Metin Bildiri
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Doi Numarası:
10.1117/12.3056417
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Basıldığı Şehir:
İstanbul
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Basıldığı Ülke:
Türkiye
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Sayfa Sayıları:
ss.13540-13546
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Yıldız Teknik Üniversitesi Adresli:
Evet
Özet
Accurate
trajectory estimation and 3D reconstruction in Simultaneous
Localization and Mapping (SLAM) applications are highly dependent on the
choice of optimization method, particularly with complex datasets. This
study evaluates the performance of the MonoGS system using three
different optimizers: Adaptive Moment Estimation (Adam), AdamW, and SGD
with Momentum. Originally utilizing Adam for its rapid convergence and
reliability, we aimed to improve the system's accuracy and
reconstruction quality by replacing Adam with AdamW and SGD with
Momentum. Experiments conducted using the TUM-Mono dataset revealed that
AdamW, which incorporates a weight decay parameter, significantly
enhances generalization and reduces overfitting. Our results indicate
that AdamW achieved a lower Absolute Trajectory Error (ATE) Root Mean
Squared Error (RMSE) of 0.02588, compared to Adam's 0.03594, leading to
more accurate and structured 3D reconstructions. In contrast, SGD with
Momentum yielded the highest error of 0.05911. These findings highlight
AdamW’s superior efficacy in improving SLAM robustness and accuracy,
demonstrating its potential as the optimal choice among the tested
optimizers.