A dynamic SLAM algorithm for fusion of semantic and depth information

Yi Zhang; Dingfang Wang; Jinyan Li; Mingpeng Si

doi:10.1117/12.2684277

1 August 2023 A dynamic SLAM algorithm for fusion of semantic and depth information

Yi Zhang, Dingfang Wang, Jinyan Li, Mingpeng Si

Proceedings Volume 12754, Third International Conference on Computer Vision and Pattern Analysis (ICCPA 2023); 1275428 (2023) https://doi.org/10.1117/12.2684277
Event: 2023 3rd International Conference on Computer Vision and Pattern Analysis (ICCPA 2023), 2023, Hangzhou, China

Abstract

Simultaneous Localization and Mapping (SLAM) plays a critical role in the field of intelligent mobile robots. However, the traditional visual SLAM framework is based on the strong assumption of a static environment, which is not applicable in dynamic real-world environments. This paper presents a SLAM algorithm that combines semantic and depth information. Firstly, we combine object detection and geometric methods to identify dynamic regions. Secondly, dynamic and static feature points are distinguished using a depth information classification method in these dynamic regions. Then, we eliminate the dynamic feature points and only pass the static feature points to other threads. Finally, we evaluate our approach on the public TUM RGB-D datasets and compare it against other state-of-the-art methods. The experimental results demonstrate the proposed SLAM algorithm has good accuracy and stability in dynamic environments.

Citation Download Citation

Yi Zhang, Dingfang Wang, Jinyan Li, and Mingpeng Si "A dynamic SLAM algorithm for fusion of semantic and depth information", Proc. SPIE 12754, Third International Conference on Computer Vision and Pattern Analysis (ICCPA 2023), 1275428 (1 August 2023); https://doi.org/10.1117/12.2684277

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