Real-time SLAM combined with instance segmentation in dynamic environment

Chun Liu; Ziwei Wang; Yang Hu

doi:10.1117/12.2681608

1 June 2023 Real-time SLAM combined with instance segmentation in dynamic environment

Chun Liu, Ziwei Wang, Yang Hu

Proceedings Volume 12718, International Conference on Cyber Security, Artificial Intelligence, and Digital Economy (CSAIDE 2023); 127181Z (2023) https://doi.org/10.1117/12.2681608
Event: International Conference on Cyber Security, Artificial Intelligence, and Digital Economy (CSAIDE 2023), 2023, Nanjing, China

Abstract

The visual SLAM algorithm based on the assumption of static environment will be affected by the motion feature points in dynamic environment leading to the degradation of system robustness and accuracy. To address this problem, a visual SLAM algorithm based on instance segmentation to remove dynamic feature points is proposed. The Yolact is used to detect potential motion objects, and the semantic information obtained is used to accurately reject dynamic feature points. In addition, considering the under-segmentation problem of the instance segmentation network, this algorithm combines the semantic information in historical key frames and depth maps to segment dynamic objects that are not detected by Yolact using a region growing algorithm, which further improves the robustness of the system. To ensure the real-time performance of the system, the instance segmentation network segments only the key frames, and improves the key frame selection strategy. The experimental results of the system based on TUM dataset show that compared with ORB-SLAM3, the ab-solute trajectory error and relative trajectory error of this algorithm in dynamic environment are reduced by 95.3% and 96.5%, respectively, the real-time performance of this algorithm is better compared with DynaSLAM and DS-SLAM.

Citation Download Citation

Chun Liu, Ziwei Wang, and Yang Hu "Real-time SLAM combined with instance segmentation in dynamic environment", Proc. SPIE 12718, International Conference on Cyber Security, Artificial Intelligence, and Digital Economy (CSAIDE 2023), 127181Z (1 June 2023); https://doi.org/10.1117/12.2681608

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KEYWORDS

Image segmentation

Image processing algorithms and systems

Image processing

Semantics

Visualization

Windows

Detection and tracking algorithms

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