DSOMF: A Dynamic Environment Simultaneous Localization and Mapping Technique Based on Machine Learning

Abstract

To address the challenges of reduced localization accuracy and incomplete map construction demonstrated using classical semantic simultaneous localization and mapping (SLAM) algorithms in dynamic environments, this study introduces a dynamic scene SLAM technique that builds upon direct sparse odometry (DSO) and incorporates instance segmentation and video completion algorithms. While prioritizing the algorithm’s real-time performance, we leverage the rapid matching capabilities of Direct Sparse Odometry (DSO) to link identical dynamic objects in consecutive frames. This association is achieved through merging semantic and geometric data, thereby enhancing the matching accuracy during image tracking through the inclusion of semantic probability. Furthermore, we incorporate a loop closure module based on video inpainting algorithms into our mapping thread. This allows our algorithm to rely on the completed static background for loop closure detection, further enhancing the localization accuracy of our algorithm. The efficacy of this approach is validated using the TUM and KITTI public datasets and the unmanned platform experiment. Experimental results show that, in various dynamic scenes, our method achieves an improvement exceeding 85% in terms of localization accuracy compared with the DSO system.