同济大学学报（自然科学版）2024，Vol.52Issue(12)：1955-1964,10.DOI:10.11908/j.issn.0253-374x.23068
一种面向动态环境下视觉同时定位和建图的图像预处理方法
An Image Pre-Processing Method for Visual Simultaneous Localization and Mapping in Dynamic Environments
摘要
Abstract
This paper proposes an image preprocessing method for visual simultaneous localization and mapping(SLAM)systems in dynamic environments,which can be easily integrated into existing visual SLAM systems to enable stable,accurate,and continuous operation in highly dynamic environments.First,it proposes a dynamic object recognition algorithm that integrates the use of semantic segmentation networks and optical flow estimation networks to robustly and accurately identify potential dynamic objects in images.Then,to detect shadows associated with dynamic objects,it proposes a shadow recognition algorithm based on region growing.Afterwards,it uses image completion techniques to fill in the gaps left by the removal of dynamic objects from the images.Finally,it combines this image preprocessing method with stereo ORB-SLAM2 and conducts experiments on the KITTI dataset,which demonstrates that the proposed image preprocessing method significantly improves the positioning accuracy of visual SLAM systems.Each module in the image preprocessing method plays an irreplaceable role.关键词
图像预处理方法/视觉同时定位和建图/动态环境/定位Key words
image pre-processing methods/visual simultaneous localization and mapping/dynamic environment/localization分类
交通工程引用本文复制引用
卓桂荣,卢守义,熊璐..一种面向动态环境下视觉同时定位和建图的图像预处理方法[J].同济大学学报（自然科学版）,2024,52(12):1955-1964,10.基金项目
国家自然科学基金(52325212),国家重点研发计划(2022YFE0117100),中央高校基本科研业务费专项资金资助 （52325212）
