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Laser & Optoelectronics Progress, Volume. 62, Issue 8, 0815008(2025)

Dynamic SLAM Algorithm Based on Instance Segmentation and Optical Flow Feature Clustering

Heng Zhang1, Xiaoqiang Zhang1、*, Guanwu Jiang1,2, Zhixin Zhang1, Yang He1, and Xuliang Wang2
Author Affiliations
  • 1School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan , China
  • 2Engineering Research Center for Integration and Application of Digital Learning Technology, Ministry of Education, Beijing 100039, China
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    [1] Wang X, Zuo Y F. Advances in visual SLAM research[J]. CAAI Transactions on Intelligent Systems, 15, 825-834(2020).

    [2] Davison A J, Reid I D, Molton N D et al. MonoSLAM: real-time single camera SLAM[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 29, 1052-1067(2007).

    [3] Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C], 225-234(2007).

    [4] Mur-Artal R, Tardós J D. ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 33, 1255-1262(2017).

    [5] Campos C, Elvira R, Rodríguez J J G et al. ORB-SLAM3: an accurate open-source library for visual, visual-inertial, and multimap SLAM[J]. IEEE Transactions on Robotics, 37, 1874-1890(2021).

    [6] Engel J, Schöps T, Cremers D. LSD-SLAM: large-scale direct monocular SLAM[M]. Computer vision-ECCV 2014, 8690, 834-849(2014).

    [7] Engel J, Koltun V, Cremers D. Direct sparse odometry[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40, 611-625(2018).

    [8] Yu C, Liu Z X, Liu X J et al. DS-SLAM: a semantic visual SLAM towards dynamic environments[C], 1168-1174(2018).

    [9] Badrinarayanan V, Kendall A, Cipolla R. SegNet: a deep convolutional encoder-decoder architecture for image segmentation[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 39, 2481-2495(2017).

    [10] Bescos B, Fácil J M, Civera J et al. DynaSLAM: tracking, mapping, and inpainting in dynamic scenes[J]. IEEE Robotics and Automation Letters, 3, 4076-4083(2018).

    [11] He K M, Gkioxari G, Dollár P et al. Mask R-CNN[C], 2980-2988(2017).

    [12] Lu J, Liu Y H, Zhang R F. Semantic-based visual odometry towards dynamic scenes[J]. Laser & Optoelectronics Progress, 58, 0611001(2021).

    [13] Fan Y C, Zhang Q C, Tang Y L et al. Blitz-SLAM: a semantic SLAM in dynamic environments[J]. Pattern Recognition, 121, 108225(2022).

    [14] Zou B, Lin S Y, Yin Z S. Semantic mapping based on YOLOv3 and visual SLAM[J]. Laser & Optoelectronics Progress, 57, 201012(2020).

    [15] Li Y, Wu H B, Li W et al. Visual SLAM algorithm based on weighted static in dynamic environment[J]. Laser & Optoelectronics Progress, 61, 0437003(2024).

    [16] Bolya D, Zhou C, Xiao F Y et al. YOLACT: real-time instance segmentation[C], 9156-9165(2019).

    [17] Suárez I, Sfeir G, Buenaposada J M et al. BEBLID: boosted efficient binary local image descriptor[J]. Pattern Recognition Letters, 133, 366-372(2020).

    [18] Calonder M, Lepetit V, Strecha C et al. BRIEF: binary robust independent elementary features[M]. Computer vision-ECCV 2010, 6314, 778-792(2010).

    [19] Lee D S. Effective Gaussian mixture learning for video background subtraction[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 27, 827-832(2005).

    [20] Sturm J, Engelhard N, Endres F et al. A benchmark for the evaluation of RGB-D SLAM systems[C], 573-580(2012).

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    Heng Zhang, Xiaoqiang Zhang, Guanwu Jiang, Zhixin Zhang, Yang He, Xuliang Wang. Dynamic SLAM Algorithm Based on Instance Segmentation and Optical Flow Feature Clustering[J]. Laser & Optoelectronics Progress, 2025, 62(8): 0815008

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    Paper Information

    Category: Machine Vision

    Received: Aug. 2, 2024

    Accepted: Oct. 8, 2024

    Published Online: Apr. 14, 2025

    The Author Email: Xiaoqiang Zhang (xqzhang@swust.edu.cn)

    DOI:10.3788/LOP241797

    CSTR:32186.14.LOP241797

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology