Blitz-SLAM: A semantic SLAM in dynamic environments. (January 2022)
- Record Type:
- Journal Article
- Title:
- Blitz-SLAM: A semantic SLAM in dynamic environments. (January 2022)
- Main Title:
- Blitz-SLAM: A semantic SLAM in dynamic environments
- Authors:
- Fan, Yingchun
Zhang, Qichi
Tang, Yuliang
Liu, Shaofen
Han, Hong - Abstract:
- Highlights: A semantic SLAM system in indoor dynamic environments is proposed. The depth masks of objects are obtained. The noise blocks formed by moving objects are removed. Abstract: Static environment is a prerequisite for most of visual simultaneous localization and mapping systems. Such a strong assumption limits the practical application of most existing SLAM systems. When moving objects enter the camera's view field, dynamic matching points will directly interrupt the camera localization, and the noise blocks formed by moving objects will contaminate the constructed map. In this paper, a semantic SLAM system working in indoor dynamic environments named Blitz-SLAM is proposed. The noise blocks in the local point cloud are removed by combining the advantages of semantic and geometric information of mask, RGB and depth images. The global point cloud map can be obtained by merging the local point clouds. We evaluate Blitz-SLAM on the TUM RGB-D dataset and in the real-world environment. The experimental results demonstrate that Blitz-SLAM can work robustly in dynamic environments and generate a clean and accurate global point cloud map simultaneously.
- Is Part Of:
- Pattern recognition. Volume 121(2022)
- Journal:
- Pattern recognition
- Issue:
- Volume 121(2022)
- Issue Display:
- Volume 121, Issue 2022 (2022)
- Year:
- 2022
- Volume:
- 121
- Issue:
- 2022
- Issue Sort Value:
- 2022-0121-2022-0000
- Page Start:
- Page End:
- Publication Date:
- 2022-01
- Subjects:
- Semantic SLAM -- Dynamic environments -- Noise block -- Local point cloud -- Global point cloud map
Pattern perception -- Periodicals
Perception des structures -- Périodiques
Patroonherkenning
006.4 - Journal URLs:
- http://www.sciencedirect.com/science/journal/00313203 ↗
http://www.sciencedirect.com/ ↗ - DOI:
- 10.1016/j.patcog.2021.108225 ↗
- Languages:
- English
- ISSNs:
- 0031-3203
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 18918.xml