Semantics Aware Dynamic SLAM Based on 3D MODT
The idea of SLAM (Simultaneous Localization and Mapping) being a solved problem revolves around the static world assumption, even though autonomous systems are gaining environmental perception capabilities by exploiting the advances in computer vision and data-driven approaches. The computational de...
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Veröffentlicht in: | Sensors (Basel, Switzerland) Switzerland), 2021-09, Vol.21 (19), p.6355 |
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Sprache: | eng |
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Zusammenfassung: | The idea of SLAM (Simultaneous Localization and Mapping) being a solved problem revolves around the static world assumption, even though autonomous systems are gaining environmental perception capabilities by exploiting the advances in computer vision and data-driven approaches. The computational demands and time complexities remain the main impediment in the effective fusion of the paradigms. In this paper, a framework to solve the dynamic SLAM problem is proposed. The dynamic regions of the scene are handled by making use of Visual-LiDAR based MODT (Multiple Object Detection and Tracking). Furthermore, minimal computational demands and real-time performance are ensured. The framework is tested on the KITTI Datasets and evaluated against the publicly available evaluation tools for a fair comparison with state-of-the-art SLAM algorithms. The results suggest that the proposed dynamic SLAM framework can perform in real-time with budgeted computational resources. In addition, the fused MODT provides rich semantic information that can be readily integrated into SLAM. |
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ISSN: | 1424-8220 1424-8220 |
DOI: | 10.3390/s21196355 |