| Popis: |
This work presents a novel RGB-D dynamic simultaneous localization and mapping (SLAM) method that improves accuracy, stability, and efficiency of localization while relying on deep learning in a dynamic environment, in contrast to traditional static scene-based visual SLAM methods. Based on the classic framework of traditional visual SLAM, we propose a method that replaces the traditional feature extraction method with a convolutional neural network approach, aiming to enhance the accuracy of feature extraction and localization, as well as to improve the algorithm’s ability to capture and represent the characteristics of the entire scene. Subsequently, the semantic segmentation thread was utilized in a target detection network combined with geometric methods to identify potential dynamic areas in the image and generate masks for dynamic objects. Finally, the standard deviation of the depth information of potential dynamic points was calculated to identify true dynamic feature points, to guarantee that static feature points were used for position estimation. We performed experiments based on the public datasets to validate the feasibility of the proposed algorithm. The experimental results indicate that the improved SLAM algorithm, which boasts a reduction in absolute trajectory error (ATE) by approximately 97% compared to traditional static visual SLAM and about 20% compared to traditional dynamic visual SLAM, also exhibited a 68% decrease in computation time compared to well-known dynamic visual SLAM, thereby possessing absolute advantages in both positioning accuracy and operational efficiency. |
