信息与控制2024，Vol.53Issue(5)：574-584,11.DOI:10.13976/j.cnki.xk.2023.4240
融合动态目标跟踪的视觉SLAM算法
Visual SLAM Algorithm of Integrating Dynamic Target Tracking
摘要
Abstract
To improve the accuracy of simultaneous localization and mapping(SLAM)for robots in dy-namic environments and enable dynamic target tracking,we propose a visual SLAM algorithm that integrates dynamic target tracking.First,we obtain the optical flow vector,instance segmentation results,and depth map information of red-green-blue(RGB)images through a preprocessing mod-ule.Second,we iteratively solve for initial values of camera pose,map points,and dynamic target positions.Finally,we jointly optimize these initial values using an improved factor graph optimiza-tion method.Experiments conducted on the KITTI dataset demonstrate that our algorithm success-fully combines visual SLAM with dynamic target tracking,significantly improving the accuracy of dynamic target tracking and SLAM in dynamic scenes.The overall performance surpasses that of visual dynamic object-aware SLAM(VDO-SLAM).关键词
同步定位与地图构建/动态场景/目标跟踪Key words
simultaneous localization and mapping(SLAM)/dynamic scene/object tracking分类
信息技术与安全科学引用本文复制引用
白克强,朱亚兰,杨秀清,向勇,邓子犇,姜官武..融合动态目标跟踪的视觉SLAM算法[J].信息与控制,2024,53(5):574-584,11.基金项目
四川省科技计划重点研发项目(2023YFG0061) （2023YFG0061）
数字化学习技术集成与应用教育部工程研究中心创新基金项目(1331003) （1331003）
绵阳市应用技术研究与开发项目(2021ZYZF1004) （2021ZYZF1004）
