RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments

CORC > 宁波材料技术与工程研究所 > 中国科学院宁波材料技术与工程研究所 > 2018专题

	RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments
	Zhang, Huijuan; Yang, Guilin; Fang, Zaojun
刊名	JOURNAL OF ELECTRONIC IMAGING
	2018
卷号	27 期号:5
关键词	d Slam System Odometry Camera
英文摘要	Visual simultaneous localization and mapping (SLAM) based on RGB-D data has been extensively researched in the past few years and has many robotic applications. Most of the state-of-the-art approaches assume static environments. However, the static assumption is not usually true in real world environments, dynamic objects can severely degrade the SLAM performance. In order to reduce the influence of dynamic objects on camera pose estimation, this paper proposes an approach that uses static point and line features. Static weights of point and line features indicating the likelihood of features being part of static environment are estimated. According to the calculated static weights, the data associated with dynamic objects are filtered out. The remaining static point and line features are considered inputs for refined pose estimation. Experiments are conducted with challenging dynamic sequences from TUM RGB-D dataset. The results demonstrate that the proposed approach is able to effectively improve the accuracy of RGB-D SLAM in dynamic environments. (C) 2018 SPIE and IS&T
学科主题	Chemistry ; Science & Technology - Other Topics ; Materials Science ; Physics
语种	英语
公开日期	2018-12-04
内容类型	期刊论文
源URL	[http://ir.nimte.ac.cn/handle/174433/17212]
专题	2018专题
推荐引用方式 GB/T 7714	Zhang, Huijuan,Yang, Guilin,Fang, Zaojun. RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments[J]. JOURNAL OF ELECTRONIC IMAGING,2018,27(5).
APA	Zhang, Huijuan,Yang, Guilin,&Fang, Zaojun.(2018).RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments.JOURNAL OF ELECTRONIC IMAGING,27(5).
MLA	Zhang, Huijuan,et al."RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments".JOURNAL OF ELECTRONIC IMAGING 27.5(2018).