湖南大学学报（自然科学版）2023，Vol.50Issue(12)：49-58,10.DOI:10.16339/j.cnki.hdxbzkb.2023351
动态环境下基于时序滑动窗口的鲁棒激光SLAM系统
Robust Laser SLAM System Based on Temporal Sliding Window in Dynamic Scenes
摘要
Abstract
In unmanned driving scenes,dynamic objects can significantly affect the global accuracy and robustness of simultaneous localization and mapping(SLAM)systems.Most existing laser SLAM systems are prone to odometry drift,positioning failure,and mapping ghosting in dynamic environments.To address these issues,this paper proposed a semantic laser SLAM system for dynamic scenes that integrates a lightweight PointPillars target detection network and a multi-object tracking method.The system first uses the PointPillars network to obtain the bounding boxes of potential dynamic targets and filters the feature points within these bounding boxes to obtain a preliminary estimation of odometry.Secondly,the system constructs a temporal sliding window based on the tracking results obtained by the multitarget tracking algorithm,which is based on the uniform velocity Kalman Filter.This enables the establishment of a robust and efficient spatiotemporal association of target-level data,which removes dynamic objects and recovers static targets,further optimizing the odometry.Finally,the proposed method is compared with the state-of-the-art methods on KITTI and NUSCENES datasets in challenging dynamic environments.The experimental results demonstrate that our system significantly improves the accuracy and robustness of odometry and global mapping,while the system also maintains real-time performance,which meets the requirements of autonomous robot systems and intelligent transportation applications in dynamic scenes.关键词
无人驾驶车辆/同时定位与建图/目标检测与跟踪/滑动窗口/动态场景Key words
unmanned vehicles/simultaneous localization and mapping/object detection and tracking/sliding window/dynamic scenes分类
信息技术与安全科学引用本文复制引用
秦晓辉,周洪,廖毅霏,高铭,黄圣杰,周云水,谢国涛..动态环境下基于时序滑动窗口的鲁棒激光SLAM系统[J].湖南大学学报（自然科学版）,2023,50(12):49-58,10.基金项目
国家自然科学基金资助项目(52102456,52172384,52102461),National Natural Science Foundation of China(52102456,52172384,52102461) （52102456,52172384,52102461）
长沙市自然科学基金(kq2202162),Natural Science Foundation of Changsha(kq2202162) （kq2202162）
汽车车身先进设计制造国家重点实验室开放课题(32115013),State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(32115013) （32115013）
