NIMTE OpenIR  > 2018专题
RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments
Zhang, Huijuan; Fang, Zaojun; Yang, Guilin
2018
Source PublicationJOURNAL OF ELECTRONIC IMAGING
Volume27Issue:5
AbstractVisual simultaneous localization and mapping (SLAM) based on RGB-D data has been extensively researched in the past few years and has many robotic applications. Most of the state-of-the-art approaches assume static environments. However, the static assumption is not usually true in real world environments, dynamic objects can severely degrade the SLAM performance. In order to reduce the influence of dynamic objects on camera pose estimation, this paper proposes an approach that uses static point and line features. Static weights of point and line features indicating the likelihood of features being part of static environment are estimated. According to the calculated static weights, the data associated with dynamic objects are filtered out. The remaining static point and line features are considered inputs for refined pose estimation. Experiments are conducted with challenging dynamic sequences from TUM RGB-D dataset. The results demonstrate that the proposed approach is able to effectively improve the accuracy of RGB-D SLAM in dynamic environments. (C) 2018 SPIE and IS&T
Keywordd Slam System Odometry Camera
Subject AreaChemistry ; Science & Technology - Other Topics ; Materials Science ; Physics
Language英语
Document Type期刊论文
Identifierhttp://ir.nimte.ac.cn/handle/174433/17212
Collection2018专题
Recommended Citation
GB/T 7714
Zhang, Huijuan,Fang, Zaojun,Yang, Guilin. RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments[J]. JOURNAL OF ELECTRONIC IMAGING,2018,27(5).
APA Zhang, Huijuan,Fang, Zaojun,&Yang, Guilin.(2018).RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments.JOURNAL OF ELECTRONIC IMAGING,27(5).
MLA Zhang, Huijuan,et al."RGB-D simultaneous localization and mapping based on combination of static point and line features in dynamic environments".JOURNAL OF ELECTRONIC IMAGING 27.5(2018).
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang, Huijuan]'s Articles
[Fang, Zaojun]'s Articles
[Yang, Guilin]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang, Huijuan]'s Articles
[Fang, Zaojun]'s Articles
[Yang, Guilin]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang, Huijuan]'s Articles
[Fang, Zaojun]'s Articles
[Yang, Guilin]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.