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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 5
1472-1477

SLAM algorithm based on semantic segmentation and dynamic feature point elimination

Zhang Heng1,2
Xu Changchun1
Liu Yanli1,2
Liao Zhifang3
1. School of Information Engineering, East China Jiaotong University, Nanchang 330013, China
2. School of Electronic Information, Shanghai Dianji University, Shanghai 201306, China
3. School of Computer Science & Engineering, Central South University, Changsha 410083, China
DOI: 10.19734/j.issn.1001-3695.2021.09.0402

Abstract

Aiming at the problem that dynamic objects tend to interfere with the accuracy of SLAM mapping, this paper proposed a new RGB-D SLAM framework for dynamic environments, which combined neural networks in deep learning with motion information. Firstly, the algorithm used the Mask R-CNN network to detect potential moving objects that might generate dynamic object masks. Secondly, the algorithm combined the optical flow method and Mask R-CNN to remove full dynamic feature points. Finally, the experimental results under the TUM RGB-D dataset show that this algorithm can improve the pose estimation accuracy of the SLAM system in dynamic environments and perform better than the existing ORB-SLAM2.

Foundation Support

国家自然科学基金资助项目(61963017,61863013)
江西省科技创新杰出青年人才项目(20192BCBL23004)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.09.0402
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 5
Section: Algorithm Research & Explore
Pages: 1472-1477
Serial Number: 1001-3695(2022)05-031-1472-06

Publish History

[2021-12-09] Accepted Paper
[2022-05-05] Printed Article

Cite This Article

张恒, 徐长春, 刘艳丽, 等. 基于语义分割动态特征点剔除的SLAM算法 [J]. 计算机应用研究, 2022, 39 (5): 1472-1477. (Zhang Heng, Xu Changchun, Liu Yanli, et al. SLAM algorithm based on semantic segmentation and dynamic feature point elimination [J]. Application Research of Computers, 2022, 39 (5): 1472-1477. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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