Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 3
675-680

RGB-D visual SLAM algorithm based on dynamic region elimination

Zhang Heng1,2
Hou Jiahao1
Liu Yanli1,2
1. School of Information Engineering, East China Jiaotong University, Nanchang 330013, China
2. School of Electronic Information, Shanghai Dianji University, Shanghai 201306, China
DOI: 10.19734/j.issn.1001-3695.2021.08.0343

Abstract

Aiming at the problem that the visual SLAM algorithm in dynamic scenes is susceptible to motion feature points, resulting in low accuracy and poor robustness of pose estimation, this paper proposed a RGB-D visual SLAM algorithm based on dynamic region culling. Firstly, identify the feature points belonging to the moving objects with the help of semantic information, and detected whether the feature points remain stationary at this point used multi-view geometry with the help of the depth information of the camera. Use feature points extracted from static objects and static feature points derived from movable objects to fine-tune the camera pose estimation to achieve accurate and robust operation of the system in dynamic scenes. Finally, it used the dynamic indoor scenes in the TUM dataset for experimental verification. Experiments show that the proposed algorithm can effectively improve the accuracy of the camera′s pose estimation in the indoor dynamic environment, realize the map update in the dynamic environment, and improve the accuracy of the environment construction while enhancing the robustness of the system.

Foundation Support

国家自然科学基金资助项目(61963017,61663010)
江西省科技创新杰出青年人才项目(20192BCBL23004)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.08.0343
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 3
Section: Algorithm Research & Explore
Pages: 675-680
Serial Number: 1001-3695(2022)03-005-0675-06

Publish History

[2021-11-15] Accepted Paper
[2022-03-05] Printed Article

Cite This Article

张恒, 侯家豪, 刘艳丽. 基于动态区域剔除的RGB-D视觉SLAM算法 [J]. 计算机应用研究, 2022, 39 (3): 675-680. (Zhang Heng, Hou Jiahao, Liu Yanli. RGB-D visual SLAM algorithm based on dynamic region elimination [J]. Application Research of Computers, 2022, 39 (3): 675-680. )

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  • 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.

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