DM-SLAM: Monocular SLAM in Dynamic Environments | |
Lu, Xiaoyun1,2; Wang, Hu1,2; Tang, Shuming2,3; Huang, Huimin1,2; Li, Chuang1 | |
发表期刊 | APPLIED SCIENCES-BASEL |
2020-06-01 | |
卷号 | 10期号:12页码:16 |
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 |
DOI | 10.3390/app10124252 |
关键词[WOS] | MOTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key R&D Program of China[2017YFB1002800] ; Beijing Natural Science Foundation[8172018] ; National Key Research and Development Program[2018YFB1601003] |
项目资助者 | National Key R&D Program of China ; Beijing Natural Science Foundation ; National Key Research and Development Program |
WOS研究方向 | Chemistry ; Engineering ; Materials Science ; Physics |
WOS类目 | Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied |
WOS记录号 | WOS:000549398100001 |
出版者 | MDPI |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/40156 |
专题 | 智能制造技术与系统研究中心 |
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):16. |
APA | Lu, Xiaoyun,Wang, Hu,Tang, Shuming,Huang, Huimin,&Li, Chuang.(2020).DM-SLAM: Monocular SLAM in Dynamic Environments.APPLIED SCIENCES-BASEL,10(12),16. |
MLA | Lu, Xiaoyun,et al."DM-SLAM: Monocular SLAM in Dynamic Environments".APPLIED SCIENCES-BASEL 10.12(2020):16. |
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