Algorithm Research & Explore
|
2361-2366

Adaptive moving object processing SLAM algorithm based on scene dynamic classification

Wang Fuqiang
Wang Qiang
Li Min
Yang Pan
School of Transportation & Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China

Abstract

Aiming at the problem of low accuracy and poor robustness of visual simultaneous localization and mapping(VSLAM) in dynamic environment, this paper proposed an adaptive dynamic SLAM(AD-SLAM). The scene dynamic classification front-end based on epipolar geometry constraint perceived the dynamic changes of the working environment in real time. This method used the dynamic feature culling in low dynamic environment based on geometric constraints and moving probability and the dynamic target processing in high dynamic environment based on semantic segmentation to eliminate moving objects. Experimental verification on the computer vision dataset TUM shows that the proposed method can improve the accuracy and robustness of localization in the mapping process of mobile robots while ensuring the real-time performance of the algorithm.

Foundation Support

国家重点研发计划资助项目(2022YFB4300300)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.11.0800
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 8
Section: Algorithm Research & Explore
Pages: 2361-2366
Serial Number: 1001-3695(2023)08-018-2361-06

Publish History

[2023-03-08] Accepted Paper
[2023-08-05] Printed Article

Cite This Article

王富强, 王强, 李敏, 等. 基于动态分级的自适应运动目标处理SLAM算法 [J]. 计算机应用研究, 2023, 40 (8): 2361-2366. (Wang Fuqiang, Wang Qiang, Li Min, et al. Adaptive moving object processing SLAM algorithm based on scene dynamic classification [J]. Application Research of Computers, 2023, 40 (8): 2361-2366. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)