YLS-SLAM: a real-time dynamic visual SLAM based on semantic segmentation

• Published in: Industrial robot Vol. 52; no. 1; pp. 106 - 115
• Main Authors: Feng, Dan, Yin, Zhenyu, Wang, Xiaohui, Zhang, Feiqing, Wang, Zisong
• Format: Journal Article
• Language: English
• Published: Bedford Emerald Group Publishing Limited 27.01.2025
• Subjects: Accuracy; Algorithms; Deep learning; Design optimization; Energy consumption; Feature extraction; Localization; Neural networks; Pose estimation; Real time; Semantic segmentation; Semantics; Simultaneous localization and mapping
• ISSN: 0143-991X; 1758-5791
• DOI: 10.1108/IR-04-2024-0160

PurposeTraditional visual simultaneous localization and mapping (SLAM) systems are primarily based on the assumption that the environment is static, which makes them struggle with the interference caused by dynamic objects in complex industrial production environments. This paper aims to improve the stability of visual SLAM in complex dynamic environments through semantic segmentation and its optimization.Design/methodology/approachThis paper proposes a real-time visual SLAM system for complex dynamic environments based on YOLOv5s semantic segmentation, named YLS-SLAM. The system combines semantic segmentation results and the boundary semantic enhancement algorithm. By recognizing and completing the semantic masks of dynamic objects from coarse to fine, it effectively eliminates the interference of dynamic feature points on the pose estimation and enhances the retention and extraction of prominent features in the background, thereby achieving stable operation of the system in complex dynamic environments.FindingsExperiments on the Technische Universität München and Bonn data sets show that, under monocular and Red, Green, Blue - Depth modes, the localization accuracy of YLS-SLAM is significantly better than existing advanced dynamic SLAM methods, effectively improving the robustness of visual SLAM. Additionally, the authors also conducted tests using a monocular camera in a real industrial production environment, successfully validating its effectiveness and application potential in complex dynamic environment.Originality/valueThis paper combines semantic segmentation algorithms with boundary semantic enhancement algorithms to effectively achieve precise removal of dynamic objects and their edges, while ensuring the system's real-time performance, offering significant application value.