Yakai Zhou
ABSTRACT
Visual SLAM is easily interfered by movable objects in dynamic scenes, which reduces the localization accuracy and robustness due to existence of inaccurate key points on movable objects. To address this problem, this paper proposes a visual SLAM algorithm for dynamic scenes based on target detection in RGB-D images. The algorithm first identifies movable objects in the scene using the Yolov5 target detector, whose results will be transmitted into a SLAM framework through socket communication. Then a threshold operation on a depth map is used to generate a mask of movable objects have been removed are inputted into the ORB-SLAM2 system. Experimental results show that the proposed algorithm successfully handles dynamic scenes, obtaining a better balance between processing speed and localization accuracy of the reconstructed map comparing with some other SLAM system for dynamic scenes.
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Index Terms
- Dynamic Scene Vision SLAM Based on Target Detection in RGB-D Images
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