计算机与数字工程2025，Vol.53Issue(1)：90-95,6.DOI:10.3969/j.issn.1672-9722.2025.01.018
动态环境下基于深度相机与IMU的动态目标剔除
Dynamic Object Culling Based on Depth Camera and IMU in Dynamic Environment
王险峰 1刘赵杰 1赵通 1杨浩伟 1汪柏彤1
作者信息
摘要
Abstract
At present,most excellent slam schemes are based on static environment,while the actual environment is often dy-namic,and the existence of dynamic goals has serious harm to the slam system.In order to improve the accuracy of pose estimation in dynamic environment,a dynamic point culling algorithm combining IMU rotation compensation and geometric constraints is pro-posed based on ORB-SAM2.In the tracking process,the rotation matrix obtained by IMU pre integration between two frames is used to compensate the previous frame,and the two images after compensation have the same rotation component.Then the motion vector of the corresponding feature points of the two frames is calculated,and the velocity vector of IMU between the two frames is used to distinguish the dynamic feature points from the environment.In order to further eliminate the dynamic feature points in the environment,the polar constraint is used to test and further filter the dynamic feature points.The experimental results in dynamic environment show that the proposed method can effectively remove dynamic feature points and improve the positioning accuracy in dynamic environment.关键词
IMU/RGBD/动态环境/SLAMKey words
IMU/RGBD/dynamic environment/SLAM分类
信息技术与安全科学引用本文复制引用
王险峰,刘赵杰,赵通,杨浩伟,汪柏彤..动态环境下基于深度相机与IMU的动态目标剔除[J].计算机与数字工程,2025,53(1):90-95,6.
