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Technology of Graphic & Image
|
2533-2539

Visual inertial SLAM algorithm with semantic information fusion

He Mingzhen
He Yuanlie
Hu Tao
School of Computer, Guangdong University of Technology, Guangzhou 510006, China

Abstract

Aiming at the problem that the positioning accuracy of traditional SLAM algorithm decreases due to the influence of dynamic feature points in dynamic environment, this paper proposed SF-VINS which fused semantic information. Firstly, it incorporated the PP-LiteSeg semantic segmentation network into the front-end of system based on the VINS-Mono algorithm and removed the dynamic feature points according to the results of semantic segmentation. Then, it constructed the semantic probability error constraint with the pixel semantic probabilities and employed adaptive weights for feature points in the backend. Based on these modifications, this paper proposed a new BA cost function and an optimization strategy for camera extrinsic parameters to improve the accuracy of state estimation. Finally, this paper conducted experiments on the VIODE and NTU VIRAL datasets to validate its effectiveness. The experimental results show that the proposed algorithm has advantages in terms of positioning accuracy and robustness in both dynamic and static scenes compared with state-of-the-art visual-inertial SLAM algorithms.

Foundation Support

国家自然科学基金资助项目(62102097)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.09.0556
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 8
Section: Technology of Graphic & Image
Pages: 2533-2539
Serial Number: 1001-3695(2024)08-041-2533-07

Publish History

[2024-01-19] Accepted Paper
[2024-08-05] Printed Article

Cite This Article

何铭臻, 何元烈, 胡涛. 融合语义信息的视觉惯性SLAM算法 [J]. 计算机应用研究, 2024, 41 (8): 2533-2539. (He Mingzhen, He Yuanlie, Hu Tao. Visual inertial SLAM algorithm with semantic information fusion [J]. Application Research of Computers, 2024, 41 (8): 2533-2539. )

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.

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