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Dynamic point-line SLAM based on lightweight object detection
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DOI：10.1007/s10489-024-06164-9.png)
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摘要
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Simultaneous Localization and Mapping (SLAM) is currently a prominent research topic in robotics, playing a crucial role in the domains of localization and navigation within unfamiliar environments. Traditional SLAM algorithms typically assume static surroundings, yet dynamic elements in real-world environments significantly impact both localization accuracy and robustness, thereby limiting algorithm applicability. To address the challenge of degraded localization accuracy caused by dynamic objects in indoor settings, we propose a dynamic point-line SLAM algorithm based on ORB-SLAM2. To address the issue of insufficient feature points caused by the removal of dynamic points in ORB-SLAM2, we augment the point features with additional line features to introduce more constraints. Additionally, we propose a novel lightweight object detection algorithm called YOLOv5s-Lightweight(YOLOv5sL) based on YOLOv5s. Experimental results on the VOC dataset demonstrate that our model achieves better real-time performance while maintaining high accuracy compared to the original YOLOv5s. Furthermore, leveraging the RGB-D model of ORB-SLAM2, we present an adaptive epipolar constraint-based dynamic feature filtering algorithm. This algorithm effectively removes dynamic points and lines by utilizing prior information from object detection networks and incorporating depth information through a new tracking thread. As a result, it efficiently filters out dynamic feature points and significantly reduces the influence of dynamic objects. Finally, we validate the effectiveness of our improved algorithm using dynamic sequences from the TUM RGB-D dataset, showing notable reductions in Absolute Trajectory Error (ATE) and Relative Pose Error (RPE), thus confirming its efficacy.
Keyword:
Visual SLAM
Object detection
Dynamic feature removal
Multi-view geometry
期刊
IF:
3.5
论文数:
7.6K
被引数:
1.7W
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