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Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 3
941-945

Semi-direct visual odometer incorporating semantics in dynamic scene

Liang Hong1
Chen Junxi2
Li Lihua1
He Xiaofeng1
Chen Lingna1
1. School of Computer, University of South China, Hengyang Hunan 421001, China
2. Affiliated Nanhua Hospital, University of South China, Hengyang Hunan 421000, China
DOI: 10.19734/j.issn.1001-3695.2019.12.0698

Abstract

To address the problem that traditional visual odometer method has poor tracking effect and easy failure in dynamic environment, this paper proposed a semi-direct visual odometer combined with semantics in dynamic scene. This method consisted of three parts: semantic segmentation, pose tracking and map management. Firstly, it used the semantic segmentation network Mask R-CNN to segment each frame of image, and obtained the binary image of semantic segmentation. It deleted the dynamic features by combining the semantic prior information. Secondly, it used the static part features for inter frame alignment and feature matching to complete pose tracking. Finally, it updated the map by selecting key frames and the depth of 3D points, and optimized the pose and 3D points of local map by using the bundle-adjustment algorithm. Compared with ORB-SLAM2 and OpenVSLAM on the dynamic sequence set of the public data set TUM RGB-D, the experimental results show that the tracking error decreases 68% and 72%, respectively. It shows the accuracy of this method in dynamic scene.

Foundation Support

国家自然科学基金资助项目(2015GZK18)
湖南省教育厅科学研究项目(18A253)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.12.0698
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 3
Section: Technology of Graphic & Image
Pages: 941-945
Serial Number: 1001-3695(2021)03-059-0941-05

Publish History

[2021-03-05] Printed Article

Cite This Article

梁鸿, 陈俊熹, 李丽华, 等. 动态场景下结合语义的半直接法视觉里程计 [J]. 计算机应用研究, 2021, 38 (3): 941-945. (Liang Hong, Chen Junxi, Li Lihua, et al. Semi-direct visual odometer incorporating semantics in dynamic scene [J]. Application Research of Computers, 2021, 38 (3): 941-945. )

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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