Det-SLAM: A semantic visual SLAM for highly dynamic scenes using Detectron2

10/01/2022
by   Ali Eslamian, et al.
10

According to experts, Simultaneous Localization and Mapping (SLAM) is an intrinsic part of autonomous robotic systems. Several SLAM systems with impressive performance have been invented and used during the last several decades. However, there are still unresolved issues, such as how to deal with moving objects in dynamic situations. Classic SLAM systems depend on the assumption of a static environment, which becomes unworkable in highly dynamic situations. Several methods have been presented to tackle this issue in recent years, but each has its limitations. This research combines the visual SLAM systems ORB-SLAM3 and Detectron2 to present the Det-SLAM system, which employs depth information and semantic segmentation to identify and eradicate dynamic spots to accomplish semantic SLAM for dynamic situations. Evaluation of public TUM datasets indicates that Det-SLAM is more resilient than previous dynamic SLAM systems and can lower the estimated error of camera posture in dynamic indoor scenarios.

READ FULL TEXT
research
09/22/2018

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Simultaneous Localization and Mapping (SLAM) is considered to be a funda...
research
10/19/2020

The STDyn-SLAM: A stereo vision and semantic segmentation approach for SLAM in dynamic outdoor environments

Commonly, SLAM algorithms are focused on a static environment, however, ...
research
09/15/2021

ROW-SLAM: Under-Canopy Cornfield Semantic SLAM

We study a semantic SLAM problem faced by a robot tasked with autonomous...
research
02/23/2022

Are We Ready for Robust and Resilient SLAM? A Framework For Quantitative Characterization of SLAM Datasets

Reliability of SLAM systems is considered one of the critical requiremen...
research
11/12/2019

Numerical and experimental realization of analytical SLAM

Analytical approach to SLAM problem was introduced in the recent years. ...
research
11/12/2020

Learning to Segment Dynamic Objects using SLAM Outliers

We present a method to automatically learn to segment dynamic objects us...
research
08/06/2020

IV-SLAM: Introspective Vision for Simultaneous Localization and Mapping

Existing solutions to visual simultaneous localization and mapping (V-SL...

Please sign up or login with your details

Forgot password? Click here to reset