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10 August 2023 Dynamic SLAM algorithm based on reprojection error and depth estimation
Ziben Deng, Pengcheng Huang, Keqiang Bai
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Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 1275912 (2023) https://doi.org/10.1117/12.2686427
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China
Abstract
In order to improve the SLAM accuracy of robots in dynamic scenes and realize the tracking of dynamic objects, this paper proposed a dynamic objects recognition method based on reprojection error and depth estimation. Firstly, recognize objects by semantic segmentation and calculate reprojection error of objects between adjacent frames to filter out dynamic objects. Then, estimate the depth of objects to improve the recognition accuracy. Finally, complete SLAM and real-time estimation of dynamic objects pose according to static background and objects. Results of experiments on KITTI datasets show that the algorithm can effectively improve the recognition accuracy of dynamic objects and ameliorate the SLAM accuracy in dynamic scenes.
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Ziben Deng, Pengcheng Huang, and Keqiang Bai "Dynamic SLAM algorithm based on reprojection error and depth estimation", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 1275912 (10 August 2023); https://doi.org/10.1117/12.2686427
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KEYWORDS
Cameras
Detection and tracking algorithms
Object recognition
Matrices
Visualization
Semantics
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