Semantics Aware Dynamic SLAM Based on 3D MODT

Sensors

Gon-Woo Kim¹  Muhammad Sualeh¹ 

[1] Intelligent Robotics Laboratory, Control and Robotics Engineering Department, Chungbuk National University, Cheongju 28644, Chungbuk, Korea;

关键词: semantics;    3D multiple object detection;    multiple object tracking;    dynamic SLAM;   

DOI  :  10.3390/s21196355

来源: DOAJ

【 摘 要 】

The idea of SLAM (Simultaneous Localization and Mapping) being a solved problem revolves around the static world assumption, even though autonomous systems are gaining environmental perception capabilities by exploiting the advances in computer vision and data-driven approaches. The computational demands and time complexities remain the main impediment in the effective fusion of the paradigms. In this paper, a framework to solve the dynamic SLAM problem is proposed. The dynamic regions of the scene are handled by making use of Visual-LiDAR based MODT (Multiple Object Detection and Tracking). Furthermore, minimal computational demands and real-time performance are ensured. The framework is tested on the KITTI Datasets and evaluated against the publicly available evaluation tools for a fair comparison with state-of-the-art SLAM algorithms. The results suggest that the proposed dynamic SLAM framework can perform in real-time with budgeted computational resources. In addition, the fused MODT provides rich semantic information that can be readily integrated into SLAM.

【 授权许可】

Unknown