文章基本信息

标题：A Visual SLAM Robust against Dynamic Objects Based on Hybrid Semantic-Geometry Information
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作者：Sheng Miao ; Xiaoxiong Liu ; Dazheng Wei 等
期刊名称：ISPRS International Journal of Geo-Information
电子版ISSN：2220-9964
出版年度：2021
卷号：10
期号：10
页码：673
DOI：10.3390/ijgi10100673
语种：English
出版社：MDPI AG
摘要：A visual localization approach for dynamic objects based on hybrid semantic-geometry information is presented. Due to the interference of moving objects in the real environment, the traditional simultaneous localization and mapping (SLAM) system can be corrupted. To address this problem, we propose a method for static/dynamic image segmentation that leverages semantic and geometric modules, including optical flow residual clustering, epipolar constraint checks, semantic segmentation, and outlier elimination. We integrated the proposed approach into the state-of-the-art ORB-SLAM2 and evaluated its performance on both public datasets and a quadcopter platform. Experimental results demonstrated that the root-mean-square error of the absolute trajectory error improved, on average, by 93.63% in highly dynamic benchmarks when compared with ORB-SLAM2. Thus, the proposed method can improve the performance of state-of-the-art SLAM systems in challenging scenarios.