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RGB-D SLAM in Dynamic Environments using Static Point Weighting

Li, Shile and 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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Abstract

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.

Item URL in elib:https://elib.dlr.de/113315/
Document Type:Article
Title:RGB-D SLAM in Dynamic Environments using Static Point Weighting
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Li, ShileTUMUNSPECIFIEDUNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:11 July 2017
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/LRA.2017.2724759
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Image edge detection, Cameras, Visualization, Dynamics, Simultaneous localization and mapping, Three-dimensional displays, Estimation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Prof. Dongheui
Deposited On:19 Jul 2017 15:02
Last Modified:14 Dec 2019 04:23

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