App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 8

Visual inertial SLAM algorithm with semantic information fusion

He Mingzhen
He Yuanlie
Hu Tao
School of Computer, Guangdong University of Technology, Guangzhou 510006, China
DOI: 10.19734/j.issn.1001-3695.2023.09.0556

Abstract

Aiming at the problem that the positioning accuracy of traditional SLAM algorithm decreases due to the influence of dynamic feature points in dynamic environment, this paper proposed a visual-inertial SLAM algorithm which fused semantic information(SF-VINS) . Firstly, it incorporated the PP-LiteSeg semantic segmentation network into the front-end of system based on the VINS-Mono algorithm and removed the dynamic feature points according to the results of semantic segmentation. Then, it constructed the semantic probability error constraint with the pixel semantic probabilities and employed adaptive weights for feature points in the backend. Based on these modifications, this paper proposed a new BA cost function and optimization strategy for camera extrinsic parameters to improve the accuracy of state estimation. Finally, this paper conducted experiments on the VIODE and NTU VIRAL datasets to validate its effectiveness. The experimental results show that the proposed algorithm has advantages in terms of positioning accuracy and robustness in both dynamic and static scenes compared with state-of-the-art visual-inertial SLAM algorithms.

Foundation Support

国家自然科学基金资助项目(62102097)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.09.0556
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 8

Publish History

[2024-01-19] Accepted Paper

Cite This Article

何铭臻, 何元烈, 胡涛. 融合语义信息的视觉惯性SLAM算法 [J]. 计算机应用研究, 2024, 41 (8). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.09.0556. (He Mingzhen, He Yuanlie, Hu Tao. Visual inertial SLAM algorithm with semantic information fusion [J]. Application Research of Computers, 2024, 41 (8). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.09.0556. )

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  • Application Research of Computers Monthly Journal
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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.

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