Laser & Optoelectronics Progress, Volume. 59, Issue 18, 1811003(2022)
Visual Simultaneous Localization and Mapping Method of Semantic Octree Map Toward Indoor Dynamic Scenes
Figures & Tables(33)
Fig. 3. Result of semantic segmentation. (a) Original drawing; (b) segmented output
Fig. 4. Outliers removing. (a) All feature points; (b) effect after removing moving points
Fig. 9. Semantic point cloud and semantic octree map. (a) Semantic point cloud; (b) semantic octree map
Fig. 11. Comparison of relative translation error. (a) ORB-SLAM2; (b) proposed system
Fig. 12. Semantic octree map building effect. (a) Original frame sequence; (b) semantic octree map
Table 1. Multi-stage RANSAC algorithm
View tableTable 1. Multi-stage RANSAC algorithm
Algorithm Multi-stage RANSAC Algorithm
Input： Previous Frame， F1； KeyPoints of F1， K； Current Frame， F2；The minimum number of points required， m
Output： The outliers， O； The inliers， I
1： assign K to I
2： for the current stage number i is less than n
3： compute the maximum number required for iterations， N
4： select randomly m points from I
5： while the number of iterations is less than N
6： solve for F
7： determine the portion of inliers among K using F
8： if the portion of inliers is larger than τi
9： leave the loop
10： end if
11： end while
12： assign new inliers to I
13： end for
Table 2. Test results of RANSAC algorithm
View tableTable 2. Test results of RANSAC algorithm
τ Ins. Outs. Time /ms 0.1 168 6 8.22814 0.2 228 12 1.02447 0.3 260 13 0.60222
Table 3. Test results of Multi-stage RANSAC algorithm
View tableTable 3. Test results of Multi-stage RANSAC algorithm
τ1 τ2 Ins.1 Ins.2 Outs. Time /ms 1 0.1 294 159 5 4.99953 1 0.2 294 210 4 0.83729 1 0.3 294 238 11 0.48140 2 0.1 327 159 7 9.83135 2 0.2 327 211 9 1.63077 2 0.3 327 238 11 0.69094
Table 4. Moving point removing algorithm
View tableTable 4. Moving point removing algorithm
Dynamic Points Removing Algorithm Input： Dynamic Points， O； Semantic mask of most likely moving objects， M； KeyPoints， K Output： The set of inliers， I 1： if M not empty then 2： for point o， m in O， M do 3： if o = m then 4： remove M from K 5： leave the loop 6： end if 7： end for 8： end if
Table 5. Typical value of translation
View tableTable 5. Typical value of translation
Seq. ORB-SLAM2 Proposed system Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.825981 0.449478 0.019991 0.010374 97.58 97.69 WH 0.502363 0.299615 0.025955 0.012036 94.83 95.98 WR 1.212279 0.676205 0.062167 0.041967 94.87 93.79 WS 0.585281 0.423743 0.009044 0.004097 98.45 99.03 SX 0.013602 0.006688 0.012649 0.006140 7.01 8.19 SH 0.040732 0.023205 0.017660 0.008521 56.64 63.28 SR 0.030898 0.018059 0.021174 0.011048 31.47 38.82 SS 0.012007 0.005570 0.007237 0.003720 39.73 33.21
Table 6. Typical value of rotation
View tableTable 6. Typical value of rotation
Seq. ORB-SLAM2 Proposed system Improvement RMSE /deg S.D /deg RMSE /deg S.D /deg RMSE /% S.D /% WX 14.812930 8.086117 0.618651 0.376314 95.82 95.35 WH 13.379170 7.277847 0.749063 0.354548 94.40 95.13 WR 22.021472 12.858064 1.201734 0.787774 94.54 93.87 WS 10.334787 7.523754 0.256180 0.110816 97.52 98.53 SX 0.578052 0.299133 0.503881 0.274636 12.83 8.19 SH 1.030726 0.456638 0.652451 0.330930 36.70 27.53 SR 0.882169 0.434188 0.748790 0.362180 15.12 16.58 SS 0.336292 0.144834 0.259707 0.116066 22.77 19.86
Table 7. Typical value of ATE
View tableTable 7. Typical value of ATE
Seq. ORB-SLAM2 Proposed system Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.565505 0.200691 0.014932 0.007969 97.36 96.03 WH 0.327989 0.177225 0.025357 0.013169 92.27 92.57 WR 0.817879 0.430206 0.047672 0.033180 94.17 92.29 WS 0.409268 0.175114 0.006957 0.003244 98.30 98.15 SX 0.009275 0.004796 0.010674 0.004922 -15.08 -2.63 SH 0.027882 0.013692 0.014091 0.006767 49.46 50.58 SR 0.021513 0.014181 0.016052 0.009607 25.38 32.25 SS 0.007698 0.003655 0.005568 0.003047 27.67 16.63
Table 8. Typical value of translation
View tableTable 8. Typical value of translation
Seq. ORB-SLAM2 Proposed system Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.030283 0.019977 0.019991 0.010374 33.99 48.07 WH 0.031893 0.016458 0.025955 0.012036 18.62 26.87 WR 0.152189 0.116961 0.062167 0.041967 59.15 64.12 WS 0.009347 0.004358 0.009044 0.004097 3.24 5.99 SX 0.012692 0.006664 0.012649 0.006140 0.34 7.86 SH 0.017403 0.007808 0.017660 0.008221 -1.48 -5.29 SR 0.025757 0.014738 0.021174 0.011048 17.79 25.04 SS 0.007327 0.003564 0.007237 0.003520 1.29 1.23
Table 9. Typical value of rotation
View tableTable 9. Typical value of rotation
Seq. ORB-SLAM2 Proposed system Improvement RMSE /deg S.D /deg RMSE /deg S.D /deg RMSE /% S.D /% WX 0.766283 0.529380 0.618651 0.376314 19.27 28.91 WH 0.846296 0.422084 0.749063 0.354548 11.49 16.00 WR 3.043619 2.335232 1.201734 0.787774 60.52 66.27 WS 0.255013 0.106953 0.256180 0.110816 -0.46 -3.61 SX 0.495392 0.270148 0.493881 0.274636 0.31 -1.66 SH 0.630755 0.300657 0.628451 0.290930 0.37 3.24 SR 0.843054 0.468068 0.748790 0.362180 11.18 22.62 SS 0.262147 0.117104 0.259707 0.116066 0.93 0.89
Table 10. Typical value of ATE
View tableTable 10. Typical value of ATE
Seq. ORB-SLAM2 Proposed system Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.022180 0.014402 0.014932 0.007969 32.68 44.67 WH 0.032083 0.017715 0.025357 0.013169 20.96 25.66 WR 0.433820 0.228252 0.047672 0.033180 89.01 85.46 WS 0.007709 0.003275 0.006957 0.003244 9.75 0.95 SX 0.010339 0.005377 0.010674 0.004922 -3.24 8.46 SH 0.014816 0.006672 0.014091 0.006767 4.89 -1.42 SR 0.020242 0.012680 0.016052 0.009607 20.70 24.24 SS 0.006273 0.003085 0.005568 0.003047 11.24 1.23
Table 11. Typical value of translation
View tableTable 11. Typical value of translation
Seq. DS-SLAM Multi Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.030283 0.019977 0.024652 0.013576 18.59 32.04 WH 0.031893 0.016458 0.029321 0.016007 8.06 2.74 WR 0.152189 0.116961 0.138137 0.110548 9.23 5.48 WS 0.009347 0.004358 0.009599 0.004705 -2.70 -7.96 SX 0.012692 0.006664 0.012615 0.006442 0.61 3.33 SH 0.017403 0.007808 0.017283 0.007227 0.69 7.44 SR 0.025757 0.014738 0.021212 0.011222 1.76 24.1 SS 0.007327 0.003564 0.007315 0.003871 0.16 -0.03
Table 12. Typical value of rotation
View tableTable 12. Typical value of rotation
Seq. DS-SLAM Multi Improvement RMSE /deg S.D /deg RMSE /deg S.D /deg RMSE /% S.D /% WX 0.766283 0.529380 0.683158 0.440730 10.85 16.75 WH 0.846296 0.422084 0.824658 0.447438 2.56 -6.01 WR 3.043619 2.335232 2.797477 2.189081 8.09 6.26 WS 0.255013 0.106953 0.261905 0.122951 -2.70 -14.96 SX 0.495392 0.270148 0.488689 0.259726 0.14 3.86 SH 0.630755 0.300657 0.618015 0.289567 0.20 3.69 SR 0.843054 0.468068 0.681521 0.333695 19.16 28.71 SS 0.262147 0.117104 0.265180 0.110150 -1.16 5.94
Table 13. Typical value of ATE
View tableTable 13. Typical value of ATE
Seq. DS-SLAM Multi Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.022180 0.014402 0.019148 0.010682 13.67 25.83 WH 0.032083 0.017715 0.028845 0.015730 10.09 11.21 WR 0.433820 0.228252 0.407781 0.205247 6.00 10.08 WS 0.007709 0.003275 0.007302 0.003459 5.28 -5.62 SX 0.010339 0.005377 0.009962 0.005129 3.65 4.61 SH 0.014816 0.006672 0.014589 0.006602 1.53 1.10 SR 0.020242 0.012680 0.016531 0.010268 18.33 19.02 SS 0.006273 0.003085 0.006142 0.003216 2.09 -4.25
Table 14. Typical value of translation
View tableTable 14. Typical value of translation
Seq. DS-SLAM Semantic Improvement RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.030283 0.019977 0.020390 0.010275 32.67 48.57 WH 0.031893 0.016458 0.027500 0.014119 13.77 14.21 WR 0.152189 0.116961 0.072958 0.051138 52.06 56.28 WS 0.009347 0.004358 0.009172 0.004383 1.87 -0.57 SX 0.012692 0.006664 0.012570 0.006306 0.96 5.37 SH 0.017403 0.007808 0.017659 0.007570 -1.47 3.05 SR 0.025757 0.014738 0.020002 0.010545 22.34 28.45 SS 0.007327 0.003564 0.007121 0.003518 2.81 1.29
Table 15. Typical value of rotation
View tableTable 15. Typical value of rotation
Seq. DS-SLAM Semantic Improvements RMSE /deg S.D /deg RMSE /deg S.D /deg RMSE /% S.D /% WX 0.766283 0.529380 0.614950 0.379957 19.75 28.23 WH 0.846296 0.422084 0.799037 0.402792 5.58 4.57 WR 3.043619 2.335232 1.471557 1.021622 51.65 56.25 WS 0.255013 0.106953 0.260383 0.114594 -2.11 -7.14 SX 0.495392 0.270148 0.486103 0.263159 1.88 2.59 SH 0.630755 0.300657 0.649584 0.314669 -2.99 -4.66 SR 0.843054 0.468068 0.667244 0.323382 20.85 30.91 SS 0.262147 0.117104 0.258282 0.113205 1.47 3.33
Table 16. Typical value of ATE
View tableTable 16. Typical value of ATE
Seq. DS-SLAM Semantic Improvements RMSE /m S.D /m RMSE /m S.D /m RMSE /% S.D /% WX 0.022180 0.014402 0.015859 0.008289 28.50 42.45 WH 0.032083 0.017715 0.026138 0.013565 18.53 23.43 WR 0.433820 0.228252 0.057395 0.041521 86.77 81.81 WS 0.007709 0.003275 0.007095 0.003276 7.96 -0.03 SX 0.010339 0.005377 0.010258 0.004892 0.78 9.02 SH 0.014816 0.006672 0.014299 0.006334 3.49 5.07 SR 0.020242 0.012680 0.016159 0.009816 20.17 22.59 SS 0.006273 0.003085 0.005903 0.002946 5.90 4.51
Table 17. Time comparison of feature point extraction, motion consistency judgment, and semantic segmentation
View tableTable 17. Time comparison of feature point extraction, motion consistency judgment, and semantic segmentation
vSLAM ORB extract Moving check Segmentation Proposed 0.008118 0.012913 0.020810 DS-SLAM 0.008118 0.017299 0.027627
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Rongfen Zhang, Wenhao Yuan, Jin Lu, Yuhong Liu. Visual Simultaneous Localization and Mapping Method of Semantic Octree Map Toward Indoor Dynamic Scenes[J]. Laser & Optoelectronics Progress, 2022, 59(18): 1811003
Paper Information
Category: Imaging Systems
Received: May. 21, 2021
Accepted: Jun. 16, 2021
Published Online: Aug. 22, 2022
The Author Email: Zhang Rongfen (rfzhang@gzu.edu.cn)
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