App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 8

Visual SLAM method based on semantic association in indoor dynamic scenes

Li Yong1
Liu Hongjie1,2
Zhou Yonglu1,2
Yu Ying1
1. School of Information, Yunnan University, Kunming 650000, China
2. Yunnan Provincial Key Laboratory of Digital Media Technology, Kunming 650223, China
DOI: 10.19734/j.issn.1001-3695.2023.10.0557

Abstract

In order to improve the robustness of visual SLAM in dynamic scenes, this proposed a new visual SLAM algorithm called SAD-SLAM. This algorithm actively extracts features using the GCNv2 network to obtain a set of evenly distributed feature points and accelerate the extraction speed. Additionally, it actively detects objects within the scene using the YOLOv8-seg semantic segmentation network and classifies them based on their ability to move autonomously. Furthermore, a semantic association method is actively used to filter potential dynamic objects at both the 2D and depth levels, determining their likelihood of movement. Finally, a dense 3D point cloud map containing semantic information is actively constructed, actively avoiding interference from dynamic objects. The effectiveness of this algorithm is actively demonstrated through experiments using the TUM dataset and real-world scenes. The results show that compared to ORB-SLAM3 and other related dynamic SLAM algorithms, SAD-SLAM actively achieves better positioning accuracy in dynamic scene.

Foundation Support

国家自然科学基金资助项目(62166048,61962060)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.10.0557
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 8

Publish History

[2024-01-24] Accepted Paper

Cite This Article

李泳, 刘宏杰, 周永录, 等. 室内动态场景下基于语义关联的视觉SLAM方法 [J]. 计算机应用研究, 2024, 41 (8). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.10.0557. (Li Yong, Liu Hongjie, Zhou Yonglu, et al. Visual SLAM method based on semantic association in indoor dynamic scenes [J]. Application Research of Computers, 2024, 41 (8). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.10.0557. )

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  • Application Research of Computers Monthly Journal
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    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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