Mamba-DQN: Adaptively Tunes Visual SLAM Parameters Based on Historical Observation DQN

The parameter configuration of traditional visual SLAM algorithms usually relies on expert experience and extensive experiments, and the parameter configuration needs to be reset as the scene changes, which is a complex and tedious process. To achieve parameter adaptation in visual SLAM, we propose the Mamba-DQN method, which transforms complex parameter adjustment tasks into policy learning assignments for the agent. In this paper, we select the key parameters of visual SLAM to construct the agent action space. The reward function is constructed based on the absolute trajectory error (ATE), and the Mamba history observer is built within the agent to learn the observation trajectory, aiming to improve the quality of the agent’s decisions. Finally, the proposed method was experimented on the EuRoc MAV and TUM-VI datasets. The experimental results show that Mamba-DQN not only enhances the positioning accuracy of visual SLAM and demonstrates good real-time performance but also avoids the tedious parameter adjustment process.