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- W4386020713 abstract "The traditional Simultaneous Localization and Mapping (SLAM) systems are based on the 1
 strong static assumption, and their performance will degrade significantly due to the presence of 2
 dynamic objects located in dynamic environments. To decrease the effects brought by the dynamic 3
 objects, based on ORB-SLAM2 system framework, a novel dynamic semantic SLAM system called 4
 MOR-SLAM is presented using mask repair method, which can accurately detect dynamic objects 5
 and realize high-precision positioning and tracking of the system in dynamic indoor environments. 6
 First, an instance segmentation module is added to the front end of ORB-SLAM2 to distinguish 7
 dynamic and static objects in the environment and obtains a preliminary mask. Next, to overcome the 8
 under-segmentation problem in instance segmentation, a new mask inpainting model is proposed to 9
 ensure that the integrity of object masks, which repairs large objects and small objects in the image 10
 with depth value fusion method and morphological method respectively. Then, a reliable basic matrix 11
 can be obtained based on the above repaired mask. Finally, the potential dynamic feature points 12
 in the environment are detected and removed through the reliable basic matrix, and the remaining 13
 static feature points are input into the tracking module of the system to realize the high-precision 14
 positioning and tracking in dynamic environments. The experiments on the public TUM dataset 15
 show that, compared with ORB-SLAM2, the MOR-SLAM improves the absolute trajectory accuracy 16
 by 95.55%. In addition, compared with DynaSLAM and DS-SLAM on the high-dynamic sequences 17
 (fr3/w/rpy and fr3/w/static), the MOR-SLAM improves the absolute trajectory accuracy by 15.20% 18
 and 59.71%, respectively" @default.
- W4386020713 created "2023-08-22" @default.
- W4386020713 creator A5058488544 @default.
- W4386020713 creator A5070686355 @default.
- W4386020713 creator A5080185006 @default.
- W4386020713 date "2023-08-21" @default.
- W4386020713 modified "2023-09-27" @default.
- W4386020713 title "MOR-SLAM: A New Visual SLAM System for Indoor Dynamic Environments Based on Mask Restoration" @default.
- W4386020713 doi "https://doi.org/10.20944/preprints202308.1419.v1" @default.
- W4386020713 hasPublicationYear "2023" @default.
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