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DM-SLAM: Monocular SLAM in Dynamic Environments
Lu, Xiaoyun1,2; Wang, Hu1,2; Tang, Shuming2,3; Huang, Huimin1,2; Li, Chuang1
作者部门空间光学技术研究室
2020-06
发表期刊APPLIED SCIENCES-BASEL
ISSN2076-3417
卷号10期号:12
产权排序1
摘要

Many classic visual monocular SLAM (simultaneous localization and mapping) systems have been developed over the past decades, yet most of them fail when dynamic scenarios dominate. DM-SLAM is proposed for handling dynamic objects in environments based on ORB-SLAM2. This article mainly concentrates on two aspects. Firstly, we proposed a distribution and local-based RANSAC (Random Sample Consensus) algorithm (DLRSAC) to extract static features from the dynamic scene based on awareness of the nature difference between motion and static, which is integrated into initialization of DM-SLAM. Secondly, we designed a candidate map points selection mechanism based on neighborhood mutual exclusion to balance the accuracy of tracking camera pose and system robustness in motion scenes. Finally, we conducted experiments in the public dataset and compared DM-SLAM with ORB-SLAM2. The experiments corroborated the superiority of the DM-SLAM.

关键词static features extraction dynamic environments 3D reconstruction monocular SLAM
DOI10.3390/app10124252
收录类别SCI
语种英语
WOS记录号WOS:000549398100001
出版者MDPI
引用统计
被引频次:12[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.opt.ac.cn/handle/181661/93604
专题空间光学技术研究室
通讯作者Wang, Hu
作者单位1.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Lu, Xiaoyun,Wang, Hu,Tang, Shuming,et al. DM-SLAM: Monocular SLAM in Dynamic Environments[J]. APPLIED SCIENCES-BASEL,2020,10(12).
APA Lu, Xiaoyun,Wang, Hu,Tang, Shuming,Huang, Huimin,&Li, Chuang.(2020).DM-SLAM: Monocular SLAM in Dynamic Environments.APPLIED SCIENCES-BASEL,10(12).
MLA Lu, Xiaoyun,et al."DM-SLAM: Monocular SLAM in Dynamic Environments".APPLIED SCIENCES-BASEL 10.12(2020).
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