Semantic SLAM Based on Compensated Segmentation and Geometric Constraints in Dynamic Environments

Abstract

Most of the existing slam algorithms are designed based on the assumption of a static environment, this strong assumption limits the practical application of most slam systems. The main reason is that moving objects will cause feature mismatch in the pose estimation process, which in turn affects the accuracy of localization and mapping. In this paper, we propose a SLAM algorithm in a dynamic environment. First, we use the BlendMask network to detect potential moving objects to generate masks for dynamic objects. The geometrically constrained joint optical flow method is used to detect dynamic feature points. Secondly, aiming at the failure of semantic segmentation network segmentation, a missed detection compensation algorithm based on the invariance of adjacent frame speed is proposed. Finally, a keyframe selection strategy is proposed to construct a semantic octree graph containing only static objects. We evaluate our algorithm on TUM RGB-D and real scene datasets. The experimental results show that the algorithm has high accuracy and real-time performance.