传感技术学报2024，Vol.37Issue(2)：268-277,10.DOI:10.3969/j.issn.1004-1699.2024.02.011
面向动态环境的视觉惯性定位方法
Visual-Inertial Positioning Method for Dynamic Environment
摘要
Abstract
Aiming at the problems of low positioning accuracy and poor system robustness of traditional visual-inertial odometry in dy-namic environment,a visual-inertial positioning method for dynamic environment is proposed.Firstly,semantic information in the envi-ronment is extracted by semantic segmentation,and dynamic objects are identified with the help of environmental prior information.Meanwhile,the background of dynamic object regions is repaired to generate images containing only static scenes by deep generative network,and the generated images are used for subsequent feature extraction and tracking to attenuate the influence of dynamic objects.The back-end builds a tightly-coupled graph optimization model,which fuses visual data and IMU data,and estimates the pose in a slid-ing window with non-linear optimization.The experimental results show that the proposed method can effectively reduce the influence of dynamic objects on positioning,and improve the positioning accuracy and robustness of the system.关键词
同步定位与地图构建/视觉惯性里程计/动态场景/区域修复Key words
simultaneous localization and mapping(SLAM)/visual-inertial odometry/dynamic environment region inpainting分类
信息技术与安全科学引用本文复制引用
付明磊,卫宁伟,金宇强,张文安,张逸婷,刘彪,PRAKAPOVICH Ryhor,SYCHOU Uladzislau..面向动态环境的视觉惯性定位方法[J].传感技术学报,2024,37(2):268-277,10.基金项目
国家自然科学基金中白合作交流项目(62111530299) （62111530299）
