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Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 5
1583-1588

Dynamic SLAM assisted by semantic line feature

Chen Shuai
Zhou Fei
Wu Kai
School of Communication & Information Engineering, Chongqing University of Posts & Telecommunications, Chongqing 400065, China
DOI: 10.19734/j.issn.1001-3695.2022.08.0462

Abstract

Dynamic environment interference is an urgent problem in the field of visual simultaneous localization and mapping(SLAM). Moving objects in the scene will seriously affect the positioning accuracy of the system. This paper combined the line features with stronger semantic information and geometric constraints to assist the SLAM system based on traditional ORB features to solve the dynamic SLAM problem. Firstly, it used SOLOv2, an excellent achievement in the field of deep learning, as the scene segmentation network, and it could assign line feature semantic information. After object tracking and static region initialization, it used the mask pyramid to extract and classify feature points. Then, it used epipolar constraints to eliminate point and line features on dynamic objects. Finally, it combined static point and line features to complete accurate estimation of pose. The experiment on the dynamic data set of TUM shows that the pose estimation accuracy of the proposed system is 72.20% higher than that of ORB-SLAM3 and 20.42% higher than that of DynaSLAM. Even compared with the excellent achievements in the same field in recent years, it also has better accuracy performance.

Foundation Support

国家自然科学基金资助项目(61801065,61901071)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.08.0462
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 5
Section: Technology of Graphic & Image
Pages: 1583-1588
Serial Number: 1001-3695(2023)05-047-1583-06

Publish History

[2022-11-17] Accepted Paper
[2023-05-05] Printed Article

Cite This Article

陈帅, 周非, 吴凯. 语义线特征辅助的动态SLAM [J]. 计算机应用研究, 2023, 40 (5): 1583-1588. (Chen Shuai, Zhou Fei, Wu Kai. Dynamic SLAM assisted by semantic line feature [J]. Application Research of Computers, 2023, 40 (5): 1583-1588. )

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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