SOF-SLAM: A Semantic Visual SLAM for Dynamic Environments

Abstract

Simultaneous Localization and Mapping (SLAM) plays an important role in the computer vision and robotics field. The traditional SLAM framework adopts a strong static world assumption for analysis convenience. How to cope with dynamic environments is of vital importance and attracts more attentions. Existing SLAM systems toward dynamic scenes either solely utilize semantic information, solely utilize geometry information, or naively combine the results from them in a loosely coupled way. In this paper, we present SOF-SLAM: Semantic Optical Flow SLAM, a visual semantic SLAM system toward dynamic environments, which is built on RGB-D mode of ORB-SLAM2. A new dynamic features detection approach called semantic optical flow is proposed, which is a kind of tightly coupled way and can fully take advantage of feature's dynamic characteristic hidden in semantic and geometry information to remove dynamic features effectively and reasonably. The pixel-wise semantic segmentation results generated by SegNet serve as mask in the proposed semantic optical flow to get a reliable fundamental matrix, which is then used to filter out the truly dynamic features. Only the remaining static features are reserved in the tracking and optimization module to achieve accurate camera pose estimation in dynamic environments. Experiments on public TUM RGB-D dataset and in real-world environment are conducted. Compared with ORB-SLAM2, the proposed SOF-SLAM achieves averagely 96.73% improvements in high-dynamic scenarios. It also outperforms the other four state-of-the-art SLAM systems which cope with the dynamic environments.