Dynamic SLAM system based on object detection

Dongri Shan; Jiamin Li; Xiaofang Wang; Peng Zhang

doi:10.1117/12.2684199

1 August 2023 Dynamic SLAM system based on object detection

Dongri Shan, Jiamin Li, Xiaofang Wang, Peng Zhang

Proceedings Volume 12754, Third International Conference on Computer Vision and Pattern Analysis (ICCPA 2023); 127541P (2023) https://doi.org/10.1117/12.2684199
Event: 2023 3rd International Conference on Computer Vision and Pattern Analysis (ICCPA 2023), 2023, Hangzhou, China

Abstract

Simultaneous Localization and Mapping (SLAM) is a key technology in robot field. Aiming at the problem that traditional SLAM system has low localization accuracy in high dynamic scene, this paper proposes a visual SLAM system combining object detection in dynamic environment. Firstly, the potential moving objects in the image are located in the object detection boxes, and the feature points belong to the moving objects are filtered out. Then, the possible residual dynamic points in the environment are thoroughly filtered by combining the optical flow method. Finally, the pose of the system in the dynamic environment are estimated by using the static objects and the remaining feature points in the background. Using TUM RGB-D datasets for experiments, the results show that compared with ORB-SLAM2, the pose estimation accuracy of the improved system is improved by 90% on average under high dynamic scenes, and the positioning accuracy is also significantly improved compared with the classical dynamic visual slam system DS-SLAM.

Citation Download Citation

Dongri Shan, Jiamin Li, Xiaofang Wang, and Peng Zhang "Dynamic SLAM system based on object detection", Proc. SPIE 12754, Third International Conference on Computer Vision and Pattern Analysis (ICCPA 2023), 127541P (1 August 2023); https://doi.org/10.1117/12.2684199

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KEYWORDS

Object detection

Optical filters

Optical flow

Visualization

Cameras

Image filtering

Pose estimation

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