Li, Shile und Lee, Dongheui (2017) RGB-D SLAM in Dynamic Environments using Static Point Weighting. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2017.2724759. ISSN 2377-3766.
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Kurzfassung
We propose a real-time depth edge based RGB-D SLAM system for dynamic environment. Our visual odometry method is based on frame-to-keyframe registration, where only depth edge points are used. To reduce the influence of dynamic objects, we propose a static weighting method for edge points in the keyframe. Static weight indicates the likelihood of one point being part of the static environment. This static weight is added into the Intensity Assisted Iterative Closest Point (IAICP) method to perform the registration task. Furthermore, our method is integrated into a SLAM (Simultaneous Localization and Mapping) system, where an efficient loop closure detection strategy is used. Both our visual odometry method and SLAM system are evaluated with challenging dynamic sequences from the TUM RGB-D dataset. Compared to state-of-the-art methods for dynamic environment, our method reduces the tracking error significantly.
elib-URL des Eintrags: | https://elib.dlr.de/113315/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | RGB-D SLAM in Dynamic Environments using Static Point Weighting | ||||||||||||
Autoren: |
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Datum: | 11 Juli 2017 | ||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/LRA.2017.2724759 | ||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
ISSN: | 2377-3766 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Image edge detection, Cameras, Visualization, Dynamics, Simultaneous localization and mapping, Three-dimensional displays, Estimation | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Lee, Prof. Dongheui | ||||||||||||
Hinterlegt am: | 19 Jul 2017 15:02 | ||||||||||||
Letzte Änderung: | 14 Dez 2019 04:23 |
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