动态场景下基于视觉同时定位与地图构建技术的多层次语义地图构建方法

梅天灿; 秦宇晟; 杨宏; 高智; 李皓冉

doi:10.11999/JEIT220153

动态场景下基于视觉同时定位与地图构建技术的多层次语义地图构建方法

doi: 10.11999/JEIT220153

1.
武汉大学电子信息学院武汉 430072
2.
中国科学院空天信息创新研究院北京 100190
3.
武汉大学遥感信息与工程学院武汉 430079

基金项目: 湖北省自然科学基金(2021CFA088)

详细信息

作者简介:
梅天灿：男，副教授，研究方向为计算机视觉、模式识别、机器学习

秦宇晟：男，硕士生，研究方向为计算机视觉、视觉SLAM

杨宏：男，高级工程师，研究方向为航空遥感及数据应用技术

高智：男，教授，研究方向为人工智能、计算机视觉、智能无人系统、遥感

李皓冉：男，硕士生，研究方向为机器视觉与人工智能

通讯作者:
梅天灿　mtc@whu.edu.cn

中图分类号: TP242.6; TN919.82
计量
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- 被引次数: 0
出版历程
- 收稿日期: 2022-02-18
- 修回日期: 2022-06-18
- 网络出版日期: 2022-06-25
- 刊出日期: 2023-05-10

Multilevel Semantic Maps Based on Visual Simultaneous Localization and Mapping in Dynamic Scenarios

1.
School of Electronic Information, Wuhan University, Wuhan 430072, China
2.
Aerospace Information Research Institute, Chinese Academy of Science, Beijing 100190, China
3.
School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China

Funds: The Natural Science Foundation of Hubei Province (2021CFA088)

摘要

摘要: 为提高视觉同时定位与地图构建(SLAM)技术的环境适应性和语义信息理解能力，该文提出一种可以在动态场景下实现多层次语义地图构建的视觉SLAM方案。首先利用被迫移动物体与动态目标间的空间位置关系，并结合目标检测网络和光流约束判断真正的动态目标，从而剔除动态特征点；其次提出一种基于超体素的快速点云分割方案，将基于静态区域构建的3维地图进行优化，构建了物体级的点云语义地图；同时构建的语义地图可以提供更高精度的训练数据样本，进一步用来提升目标检测网络性能。在TUM和ICL-NUIM数据集上的实验结果表明，该方法在定位精度上远优于目前主流的动态场景下的视觉SLAM方案，证明了该方法在高动态场景中具有较好的稳定性和鲁棒性；在建图精度和质量上，经过将重建的不同种类地图与各个现有方法进行比较，验证了提出的多层次语义地图构建的方法在静态和高动态场景中的有效性与适用性。
- 视觉同时定位与地图构建技术 /
- 语义建图 /
- 动态场景 /
- 点云分割 /
- 目标检测
Abstract: To cope with the moving objects in dynamic environments and make the robots truly understand the surroundings, a visual Simultaneous Localization And Mapping (SLAM) system is proposed to estimate simultaneously trajectory and object-level dense 3D semantic maps in dynamic environments. Object detection and optical flow results are leveraged to identify those actually moving objects. To improve semantic mapping accuracy, an unsupervised algorithm is employed to segment 3D point cloud into meaningful clusters with semantic cues. The semantic maps are further used to improve object detection model, by fine-tuning with hard examples coming from semantic maps in challenging conditions. Extensive qualitative and quantitative experiments which compare the proposed method to comparable state-of-the-art approaches show that the proposed method achieves improved accuracy and robustness in dynamic scenes.
- Visual Simultaneous Localization And Mapping (SLAM) /
- Semantic mapping /
- Dynamic environment /
- Point cloud segmentation /
- Object detection

HTML全文

图 1 系统总体框架

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图 2 关键帧处理示意图

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图 3 地图1和地图2的结果

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图 4 地图3的生成过程

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图 5 用地图2生成目标检测结果的示意图

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图 6 高动态场景估计轨迹对比图

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图 7 背景重建质量的定量分析效果图

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图 8 背景重建效果对比图

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图 9 fr3-W-xyz数据集上生成的多层次地图

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图 10 生成复杂样本的真值

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表 1 绝对轨迹误差(Absolute Trajectory Error, ATE)和相对位姿误差(Relative Pose Error, RPE)在不同方法下的数据对比

数据集	ATE(m)
	现有方法						本文方法
	ORB-SLAM2	BaMVO	SPW	LC-CRF	DynaSLAM	DS-SLAM	目标检测	光流约束	最终结果
fr3-W-static	0.3516	0.0082	0.0235	0.0111	0.0072	0.0081	0.0094	0.0112	0.0069
fr3-W-xyz	0.4563	0.2233	0.0551	0.0158	0.0164	0.0247	0.0152	0.0231	0.0132
fr3-W-half	0.4673	0.1940	0.0563	0.0318	0.0240	0.0303	0.0276	0.0259	0.0228
fr3-W-rpy	0.7946	0.1477	0.1593	0.0516	0.0367	0.0442	0.1325	0.0789	0.0488
	RPE(m/s)
fr3-W-static	0.0153	0.0068	0.0084	0.0062	0.0091	0.0066	0.0112	0.0094	0.0059
fr3-W-xyz	0.0261	0.0248	0.0086	0.0094	0.0217	0.0233	0.0238	0.0189	0.0116
fr3-W-half	0.0411	0.0244	0.0375	0.0158	0.0148	0.0297	0.0223	0.0386	0.0145
ffr3-W-rpy	0.0647	0.0155	0.0198	0.0423	0.0314	0.0503	0.0352	0.0279	0.0248

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表 2 不同数据训练YOLOv3后准确率和召回率的对比

类别	准确率/召回率
类别	显示屏	椅子	盆栽	水瓶	鼠标
VOC	61.7/63.8	56.5/60.7	35.6/51.7	–	–
VOC+本文样本	71.2/76.1	68.6/73.2	54.1/62.9	–	–
COCO	65.3/66.4	49.9/52.3	27.7/36.8	23.6/34.5	69.9/71.1
COCO+本文样本	72.4/75.8	61.2/63.9	53.1/66.2	51.5/60.8	77.4/78.9

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