Laser & Optoelectronics Progress, Volume. 58, Issue 6, 611001(2021)
Semantic-Based Visual Odometry Towards Dynamic Scenes
Figures & Tables(15)
Fig. 3. Results of semantic segmentation. (a) Original image; (b) segmentation result
Fig. 4. RANSAC effect comparison under different scales. (a) Scale is 1 and 0.3, number of inliers is 238; (b) scale is 1 and 0.2, number of inliers is 210; (c) scale is 1 and 0.1, number of inliers is 159; (d) scale is 0.1, number of inliers is 168
Fig. 5. Epipolar geometric constraints. (a) p2 is on the polar line L2; (b) p2 is not strictly on the polar line L2
Fig. 6. Outliers removing. (a) All feature points are extracted; (b) outliers lie on people are removed
Fig. 8. Comparison of relative translation error. (a) ORB-SLAM2; (b) proposed scheme
Table 1. Typical value of ATE
View tableTable 1. Typical value of ATE
Sequency ORB-SLAM2 /m Proposed /m Improvement /% RMSE Mean Median S.D. RMSE Mean Median S.D. RMSE Mean Median S.D. wX 0.565505 0.528696 0.515921 0.200691 0.019148 0.015891 0.013613 0.010682 96.61 96.99 97.36 94.68 wH 0.327989 0.275986 0.232572 0.177225 0.028845 0.024179 0.020507 0.015730 91.21 91.24 91.18 91.12 wR 0.817879 0.695593 0.642242 0.430206 0.407781 0.352362 0.270319 0.205247 50.14 49.34 57.91 52.29 wS 0.409268 0.369913 0.293660 0.175114 0.007302 0.006431 0.006031 0.003459 98.22 98.26 97.95 98.02 sX 0.009275 0.007939 0.007251 0.004796 0.009962 0.008540 0.007845 0.005129 -7.41 -7.57 -8.19 -6.94 sH 0.027882 0.024288 0.022784 0.013692 0.014589 0.012853 0.011611 0.006902 47.68 47.08 49.04 49.59 sR 0.021513 0.016177 0.011756 0.014181 0.016531 0.012956 0.009905 0.010268 23.16 19.91 15.75 27.59 sS 0.007698 0.006775 0.006045 0.003655 0.006142 0.005233 0.004683 0.003216 20.21 22.76 22.53 12.01
Table 2. Typical value of relative translation error
View tableTable 2. Typical value of relative translation error
Sequency ORB-SLAM2 /m Proposed /m Improvement /% RMSE Mean Median S.D. RMSE Mean Median S.D. RMSE Mean Median S.D. wX 0.825981 0.692976 0.648657 0.449478 0.028086 0.023557 0.020073 0.015293 96.60 96.60 96.91 96.60 wH 0.502363 0.403237 0.436454 0.299615 0.040362 0.035091 0.032131 0.019942 91.97 91.30 92.64 93.34 wR 1.212279 1.006164 0.943469 0.676205 0.138982 0.087917 0.042314 0.102784 88.54 91.26 95.52 84.80 wS 0.585281 0.403727 0.157596 0.423743 0.010569 0.009465 0.008933 0.004703 98.19 97.66 94.33 98.89 sX 0.013602 0.011845 0.010865 0.006688 0.014602 0.012807 0.011729 0.007015 -7.35 -8.12 -7.95 -4.89 sH 0.040732 0.033476 0.028965 0.023205 0.020813 0.018533 0.016983 0.009471 48.90 44.64 41.37 59.19 sR 0.030898 0.025071 0.020812 0.018059 0.024480 0.020617 0.017343 0.013200 20.77 17.77 16.67 26.91 sS 0.012007 0.010637 0.009772 0.005570 0.009133 0.008002 0.007147 0.004403 23.94 24.77 26.86 20.95
Table 3. Typical value of relative rotation error
View tableTable 3. Typical value of relative rotation error
Sequency ORB-SLAM2 /(°) Proposed /(°) Improvement /% RMSE Mean Median S.D. RMSE Mean Median S.D. RMSE Mean Median S.D. wX 14.812930 12.411189 11.075135 8.086117 0.717936 0.554291 0.449855 0.456282 95.15 95.53 95.94 94.36 wH 13.379170 11.226538 14.220488 7.277847 0.930220 0.806664 0.727123 0.463252 93.05 92.81 94.89 93.63 wR 22.021472 17.877791 16.175450 12.858064 2.780387 1.798397 0.922173 2.013343 87.37 89.94 94.30 84.34 wS 10.334787 7.085263 1.830560 7.523754 0.286392 0.257924 0.242004 0.124482 97.23 96.36 86.78 98.35 sX 0.578052 0.494635 0.422254 0.299133 0.590790 0.509834 0.442760 0.298500 -2.20 -3.07 -4.86 0.21 sH 1.030726 0.924055 0.857998 0.456638 0.716727 0.644671 0.600926 0.313205 30.46 30.23 29.96 31.41 sR 0.882169 0.767921 0.700110 0.434188 0.755252 0.670573 0.623672 0.347473 14.39 12.68 10.92 19.97 sS 0.336292 0.303505 0.286266 0.144834 0.316251 0.283073 0.264374 0.141012 5.96 6.73 7.65 2.64
Table 4. Typical value of ATE
View tableTable 4. Typical value of ATE
Sequency DS-SLAM /m Proposed /m Improvement /% RMSE Mean Median S.D. RMSE Mean Median S.D. RMSE Mean Median S.D. wX 0.022180 0.016869 0.013272 0.014402 0.019148 0.015891 0.013613 0.010682 13.67 5.80 -2.57 25.83 wH 0.032083 0.026748 0.022648 0.017715 0.028845 0.024179 0.020507 0.015730 10.09 9.60 9.45 11.21 wR 0.433820 0.368918 0.249150 0.228252 0.407781 0.352362 0.270319 0.205247 6.00 4.49 -8.50 10.08 wS 0.007709 0.006979 0.006576 0.003275 0.007302 0.006431 0.006031 0.003459 5.28 7.85 8.29 -5.62 sX 0.010339 0.008831 0.007981 0.005377 0.009962 0.008540 0.007845 0.005129 3.65 3.30 1.70 4.61 sH 0.014816 0.013229 0.011732 0.006672 0.014589 0.012853 0.011611 0.006902 1.53 2.84 1.03 -3.45 sR 0.020242 0.015779 0.011601 0.012680 0.016531 0.012956 0.009905 0.010268 18.33 17.89 14.62 19.02 sS 0.006142 0.005233 0.004683 0.003216 0.006273 0.005461 0.004728 0.003085 -2.13 -4.36 -0.96 4.07
Table 5. Typical value of translation
View tableTable 5. Typical value of translation
Sequency DS-SLAM /m Proposed /m Improvement /% RMSE Mean Median S.D. RMSE Mean Median S.D. RMSE Mean Median S.D. wX 0.032488 0.025585 0.020938 0.020022 0.028086 0.023557 0.020073 0.015293 13.55 7.93 4.13 23.62 wH 0.045461 0.039412 0.035235 0.022658 0.040362 0.035091 0.032131 0.019942 11.22 10.96 8.81 11.99 wR 0.148749 0.094158 0.045830 0.112832 0.138982 0.087917 0.042314 0.102784 6.57 6.63 7.67 8.91 wS 0.010977 0.009989 0.009499 0.004552 0.010569 0.009465 0.008933 0.004703 3.72 5.25 5.96 -3.32 sX 0.014969 0.013095 0.012071 0.007252 0.014602 0.012807 0.011729 0.007015 2.45 2.20 2.83 3.27 sH 0.021379 0.019180 0.017768 0.009444 0.020813 0.018533 0.016983 0.009471 2.65 3.37 4.42 -0.29 sR 0.028873 0.024268 0.020204 0.015643 0.024480 0.020617 0.017343 0.013200 15.21 15.04 14.16 15.62 sS 0.009217 0.008144 0.007363 0.004316 0.009133 0.008002 0.007147 0.004403 0.91 1.74 2.93 -2.02
Table 6. Typical value of rotation
View tableTable 6. Typical value of rotation
Sequency DS-SLAM /(°) Proposed /(°) Improvement /% RMSE Mean Median S.D. RMSE Mean Median S.D. RMSE Mean Median S.D. wX 0.768973 0.583035 0.460229 0.501387 0.717936 0.554291 0.449855 0.456282 6.64 4.93 2.25 9.00 wH 0.983289 0.862411 0.769254 0.472340 0.930220 0.806664 0.727123 0.463252 5.40 6.46 5.48 1.92 wR 3.013413 1.909141 0.996452 2.320810 2.780387 1.798397 0.922173 2.013343 7.73 5.80 7.45 13.25 wS 0.285163 0.261389 0.250628 0.113990 0.286392 0.257924 0.242004 0.124482 -0.43 1.33 3.44 -9.20 sX 0.577467 0.493059 0.420298 0.300600 0.590790 0.509834 0.442760 0.298500 -2.31 -3.40 -5.34 0.70 sH 0.778858 0.698167 0.649726 0.345227 0.716727 0.644671 0.600926 0.313205 7.98 7.66 7.51 9.28 sR 0.863546 0.760713 0.701008 0.408689 0.755252 0.670573 0.623672 0.347473 12.54 11.85 11.03 14.98 sS 0.308551 0.276659 0.259871 0.136614 0.316251 0.283073 0.264374 0.141012 -2.50 -2.32 -1.73 -3.22
Table 7. Time consuming of moving consistency check
View tableTable 7. Time consuming of moving consistency check
Sequency DS-SLAM /ms Proposed /ms Reduced /% wX 0.019487 0.013030 33.14 wH 0.018344 0.010929 40.42 wR 0.017183 0.010957 36.23 wS 0.016712 0.015695 6.09 sX 0.017424 0.014163 18.72 sH 0.018717 0.013182 29.58 sR 0.016412 0.011832 27.90 sS 0.014110 0.013517 4.20
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Lu Jin, Liu Yuhong, Zhang Rongfen. Semantic-Based Visual Odometry Towards Dynamic Scenes[J]. Laser & Optoelectronics Progress, 2021, 58(6): 611001
Paper Information
Category: Imaging Systems
Received: Jul. 10, 2020
Accepted: --
Published Online: Mar. 6, 2021
The Author Email: Zhang Rongfen (rfzhang@gzu.edu.cn)
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