Dynamic scene mapping and positioning method based on ORB-SLAM2

An ORB-SLAM2 and dynamic scene technology, applied in 3D modeling, image data processing, instruments, etc., can solve the problems of limited application, unable to remove people who have been stationary for a long time, and cannot establish static maps, etc., to achieve maintenance quality and scale , shorten the update time, and optimize the effect of robot pose

Active Publication Date: 2019-10-25
GUANGDONG UNIV OF TECH
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Problems solved by technology

The framework of modern visual SLAM systems is very mature, such as ORB-SLAM2, LSD-SLAM; the most advanced Visual Synchronous Localization and Mapping (V-SLAM) systems have high-precision positioning capabilities, but most of these systems assume that the operating environment is static, thus limiting their application
[0003] For the establishment of static maps in dynamic scenes, existing algorithms have their shortcomings. For example, DynaSLAM cannot be real-time. DynaSLAM only removes pixels of predefined objects, while Undefined objects or only part of predefined objects cannot be removed. The StaticFusion system cannot remove people who have been stationary for a long time. None of the above algorithms can create a clean static map in real time in a complex dynamic environment.

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  • Dynamic scene mapping and positioning method based on ORB-SLAM2
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  • Dynamic scene mapping and positioning method based on ORB-SLAM2

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Embodiment Construction

[0059] ORB-SLAM2 is a complete SLAM solution based on monocular, binocular and RGB-D cameras. It can realize the functions of map reuse, loop detection and relocation. But it assumes that the operating environment is static, which limits its application.

[0060] The algorithm of the present invention is proposed on the basis of the ORB-SLAM2 algorithm, which can quickly establish a clean static octree map in a dynamic environment in real time. It mainly consists of five steps: local map tracking, dynamic pixel elimination, and sparseness. Mapping, closed-loop detection and creation of octree maps, the overall flow chart is as follows figure 1 Shown. The details are as follows:

[0061] Step 1, local map tracking

[0062] Initialize the camera pose using the image information captured by the camera carried by the robot; use the first image captured by the camera as a key frame during initialization; after obtaining the initial pose, track the local map to optimize the camera pose...

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Abstract

The invention discloses a dynamic scene mapping and positioning method based on ORB-SLAM2. The method comprises a local map tracking process, a dynamic pixel elimination process, a sparse mapping process, a closed-loop detection process and an octree map construction process. The method has a dynamic pixel elimination function, a moving object is rapidly detected in image information of a camera through a target detection method in combination with a depth image of a new key frame, and a clean static background octree map is constructed in a complex dynamic environment.

Description

Technical field [0001] The invention relates to the technical field of robot synchronous mapping and positioning slam, and in particular to a dynamic scene mapping and positioning method based on orb-slam 2. Background technique [0002] SLAM (simultaneous localization and map reconstruction) has always been a hot topic in the field of computer vision and robotics, and it has also attracted the attention of many high-tech companies. SLAM technology builds a map in an unknown environment and can locate in the map in real time. The framework of modern visual SLAM systems is very mature, such as ORB-SLAM2, LSD-SLAM; the most advanced visual synchronization positioning and mapping (V-SLAM) systems have high-precision positioning functions, but most of these systems assume that the operating environment is static. This limits their application. [0003] For the establishment of static maps in dynamic scenes, the existing algorithms have their shortcomings. For example, DynaSLAM cannot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T17/05
CPCG06T17/00G06T17/05
Inventor 龙土志蔡述庭李丹杨家兵董海涛
Owner GUANGDONG UNIV OF TECH
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