Optics and Precision Engineering, Volume. 32, Issue 6, 857(2024)
RGB-D SLAM method of dynamic scene based on instance segmentation and optical flow
Figures & Tables(10)
Fig. 3. Diagram of relationship between optical flow and self flow
Table 1. Comparison of absolute trajectory error of Bonn dataset
View tableView in ArticleTable 1. Comparison of absolute trajectory error of Bonn dataset
序列 SF［ 36 ］DS［ 22 ］RF［ 33 ］AF［ 31 ］OURS Balloon 0.233 0.030 0.175 0.028 0.028 Balloon2 0.293 0.029 0.254 0.030 0.029 Balloon Tracking 0.221 0.049 0.302 0.045 0.041 Balloon Tracking2 0.366 0.035 0.322 0.033 0.059 Crowd 3.586 0.016 0.204 0.016 0.027 Crowd2 0.215 0.031 0.155 0.027 0.028 Crowd3 0.168 0.038 0.137 0.023 0.038 Kidnapping 0.336 0.029 0.148 0.030 0.029 Kidnapping2 0.263 0.035 0.161 0.030 0.025 Moving No Box 0.141 0.232 0.071 0.070 0.025 Moving No Box2 0.364 0.039 0.179 0.029 0.037 Moving O Box 0.331 0.044 0.343 0.343 0.262 Moving O Box2 0.309 0.263 0.528 0.443 0.134 Person Tracking 0.484 0.061 0.289 0.070 0.041 Person Tracking2 0.626 0.078 0.463 0.071 0.056 Placing No Box 0.125 0.575 0.106 0.088 0.021 Placing No Box2 0.177 0.021 0.141 0.020 0.022 Placing No Box3 0.256 0.058 0.174 0.051 0.043 Placing O Box 0.330 0.225 0.571 0.324 0.177 Removing No Box 0.136 0.016 0.041 0.020 0.017 Removing No Box2 0.129 0.021 0.111 0.025 0.025 Removing O Box 0.334 0.291 0.222 0.314 0.197 Synchronous 0.446 0.015 0.410 0.014 0.012 Synchronous2 0.037 0.009 0.022 0.010 0.009
Table 2. Comparison of absolute trajectory error of TUM dataset
View tableView in ArticleTable 2. Comparison of absolute trajectory error of TUM dataset
序列 DS［ 22 ］RF［ 33 ］Rigid［ 37 ］AF［ 31 ］OURS Sitting Static 0.007 0.011 0.019 0.028 0.006 Sitting XYZ 0.015 0.026 0.054 0.021 0.014 Sitting Halfsphere 0.028 0.038 0.129 0.035 0.019 Walking Static 0.007 0.014 0.018 0.011 0.007 Walking XYZ 0.017 0.074 0.090 0.025 0.015 Walking Halfsphere 0.026 0.048 0.076 0.035 0.027
Table 3. Comparison of Absolute Trajectory Errors for Different Strategies in the Bonn Dataset
View tableView in ArticleTable 3. Comparison of Absolute Trajectory Errors for Different Strategies in the Bonn Dataset
序列 全程剔除 动态剔除 Balloon 0.028 0.028 Balloon2 0.029 0.029 Balloon Tracking 0.049 0.041 Balloon Tracking2 0.089 0.059 Moving No Box 0.035 0.025 Moving No Box2 0.042 0.037 Moving O Box 0.262 0.262 Moving O Box2 0.134 0.134 Placing No Box 0.022 0.021 Placing No Box2 0.025 0.022 Placing No Box3 0.045 0.043 Placing O Box 0.174 0.177 Removing No Box 0.019 0.017 Removing No Box2 0.028 0.025 Removing O Box 0.197 0.191
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Chenggen WANG, Jinlong SHI, Haowei ZHU, Suqin BAI, Yunhan SUN, Jiawen LU, Shucheng HUANG. RGB-D SLAM method of dynamic scene based on instance segmentation and optical flow[J]. Optics and Precision Engineering, 2024, 32(6): 857
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Received: Sep. 7, 2023
Accepted: --
Published Online: Apr. 19, 2024
The Author Email: Jinlong SHI (shi_jinlong@163. com)
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