DE‐SLAM: SLAM for highly dynamic environment

Simultaneous localization and mapping (SLAM) is crucial for autonomous mobile robots. Most of the current SLAM systems are based on an assumption: the environment is static. However, the real environment is full of dynamic elements, such as pedestrians or vehicles, as well as changes in illumination...

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Bibliographic Details
Published inJournal of field robotics Vol. 39; no. 5; pp. 528 - 542
Main Authors Xing, Zhiwei, Zhu, Xiaorui, Dong, Dingcheng
Format Journal Article
LanguageEnglish
Published Hoboken Wiley Subscription Services, Inc 01.08.2022
Subjects
Global optimization
localization
Modules
Object recognition
Pedestrians
Simultaneous localization and mapping
SLAM
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Summary:Simultaneous localization and mapping (SLAM) is crucial for autonomous mobile robots. Most of the current SLAM systems are based on an assumption: the environment is static. However, the real environment is full of dynamic elements, such as pedestrians or vehicles, as well as changes in illumination and appearance over time. In this paper, DE‐SLAM, a visual SLAM system that can deal with short‐term and long‐term dynamic elements at the same time is proposed. A novel dynamic detection and tracking module that utilizes both semantic and metric information is proposed, and the localization accuracy is highly improved by eliminating features falling on the dynamic objects. A unified loop detection, loop check and global optimization module is used to perform loop closure. Experimental results on datasets and real environments show that DE‐SLAM outperforms other state‐of‐the‐art SLAM systems in dynamic environments.
Bibliography:ObjectType-Article-1
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ISSN:1556-4959
1556-4967
DOI:10.1002/rob.22062