Motion removal for reliable RGB-D SLAM in dynamic environments

Yuxiang Sun, Ming Liu, Max Q.H. Meng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

58 Citations (Scopus)

Abstract

RGB-D data-based Simultaneous Localization and Mapping (RGB-D SLAM) aims to concurrently estimate robot poses and reconstruct traversed environments using RGB-D sensors. Many effective and impressive RGB-D SLAM algorithms have been proposed over the past years. However, virtually all the RGB-D SLAM systems developed so far rely on the static-world assumption. This is because the SLAM performance is prone to be degraded by the moving objects in dynamic environments. In this paper, we propose a novel RGB-D data-based motion removal approach to address this problem. The approach is on-line and does not require prior-known moving-object information, such as semantics or visual appearances. We integrate the approach into the front end of an RGB-D SLAM system. It acts as a pre-processing stage to filter out data that are associated with moving objects. Experimental results demonstrate that our approach is able to improve RGB-D SLAM in various challenging scenarios.

Original languageEnglish
Pages (from-to)115-128
Number of pages14
JournalRobotics and Autonomous Systems
Volume108
DOIs
Publication statusPublished - Oct 2018

Keywords

  • Codebook model
  • Dynamic environments
  • Motion removal
  • RGB-D SLAM

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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