Loading...
Please wait, while we are loading the content...
Similar Documents
A Visual SLAM Robust against Dynamic Objects Based on Hybrid Semantic-Geometry Information
| Content Provider | MDPI |
|---|---|
| Author | Miao, Sheng Liu, Xiaoxiong Wei, Dazheng Li, Changze |
| Copyright Year | 2021 |
| Description | 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. |
| Starting Page | 673 |
| e-ISSN | 22209964 |
| DOI | 10.3390/ijgi10100673 |
| Journal | ISPRS International Journal of Geo-Information |
| Issue Number | 10 |
| Volume Number | 10 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2021-10-04 |
| Access Restriction | Open |
| Subject Keyword | ISPRS International Journal of Geo-Information Isprs International Journal of Geo-information Remote Sensing Slam Optical Flow Image Segmentation Dynamic Objects |
| Content Type | Text |
| Resource Type | Article |
