Visual SLAM method in dynamic scene

The invention discloses a visual SLAM (Simultaneous Localization and Mapping) method in a dynamic scene. The method comprises the following steps: (1) performing instance segmentation on an original RGB (Red, Green and Blue) picture; (2) carrying out feature point tracking by utilizing an LK optical...

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Hauptverfasser:	WU XINYI, GONG YIGUANG, ZHANG BINGQI, HUAN HONGHUA, CHENG YONG, LIU YUNPING, ZHANG YONGHONG, WANG SHUANG
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CALCULATING COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS COMPUTING COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PHYSICS
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creator	WU XINYI GONG YIGUANG ZHANG BINGQI HUAN HONGHUA CHENG YONG LIU YUNPING ZHANG YONGHONG WANG SHUANG
description	The invention discloses a visual SLAM (Simultaneous Localization and Mapping) method in a dynamic scene. The method comprises the following steps: (1) performing instance segmentation on an original RGB (Red, Green and Blue) picture; (2) carrying out feature point tracking by utilizing an LK optical flow method of the improved image pyramid, and judging parallel dynamic feature points; (3) calculating a basic matrix of two adjacent frames of images, and further screening undetected dynamic feature points by adopting an improved multi-view geometric method fusing dynamic probability; (4) synthesizing a picture without a dynamic object; (5) triangularizing the estimated camera pose to obtain three-dimensional map points, and optimizing the camera pose through a visual re-projection error; (6) optimizing camera poses and map points; (7) loopback detection and loopback optimization are carried out; according to the invention, the precision and robustness of the visual SLAM system in a dynamic scene are improved.
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subjects	CALCULATING COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS COMPUTING COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PHYSICS
title	Visual SLAM method in dynamic scene
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