In order to improve the SLAM accuracy of robots in dynamic scenes and realize the tracking of dynamic objects, this paper proposed a dynamic objects recognition method based on reprojection error and depth estimation. Firstly, recognize objects by semantic segmentation and calculate reprojection error of objects between adjacent frames to filter out dynamic objects. Then, estimate the depth of objects to improve the recognition accuracy. Finally, complete SLAM and real-time estimation of dynamic objects pose according to static background and objects. Results of experiments on KITTI datasets show that the algorithm can effectively improve the recognition accuracy of dynamic objects and ameliorate the SLAM accuracy in dynamic scenes.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.