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JD-SLAM: Joint camera pose estimation and moving object segmentation for simultaneous localization and mapping in dynamic scenes
| Content Provider | SAGE Publishing |
|---|---|
| Author | Zhai, Yujia Lu, Baoli Li, Weijun Xu, Jian Ma, Shuangyi |
| Copyright Year | 2021 |
| Abstract | As a fundamental assumption in simultaneous localization and mapping, the static scenes hypothesis can be hardly fulfilled in applications of indoor/outdoor navigation or localization. Recent works about simultaneous localization and mapping in dynamic scenes commonly use heavy pixel-level segmentation net to distinguish dynamic objects, which brings enormous calculations and limits the real-time performance of the system. That restricts the application of simultaneous localization and mapping on the mobile terminal. In this article, we present a lightweight system for monocular simultaneous localization and mapping in dynamic scenes, which can run in real time on central processing unit (CPU) and generate a semantic probability map. The pixel-wise semantic segmentation net is replaced with a lightweight object detection net combined with three-dimensional segmentation based on motion clustering. And a framework integrated with an improved weighted-random sample consensus solver is proposed to jointly solve the camera pose and perform three-dimensional object segmentation, which enables high accuracy and efficiency. Besides, the prior information of the generated map and the object detection results is introduced for better estimation. The experiments on the public data set, and in the real-world demonstrate that our method obtains an outstanding improvement in both accuracy and speed compared to state-of-the-art methods. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881421994447?download=true |
| ISSN | 17298806 |
| Issue Number | 1 |
| Volume Number | 18 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881421994447 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2021-02-24 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2021 |
| Subject Keyword | SLAM dynamic scenes object detection 3D segmentation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
