NID-SLAM: Neural Implicit Representation-based RGB-D SLAM in dynamic environments
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866914797757399040 |
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| author | Xu, Ziheng Niu, Jianwei Li, Qingfeng Ren, Tao Chen, Chen |
| author_facet | Xu, Ziheng Niu, Jianwei Li, Qingfeng Ren, Tao Chen, Chen |
| contents | Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving objects. In this paper we present NID-SLAM, which significantly improves the performance of neural SLAM in dynamic environments. We propose a new approach to enhance inaccurate regions in semantic masks, particularly in marginal areas. Utilizing the geometric information present in depth images, this method enables accurate removal of dynamic objects, thereby reducing the probability of camera drift. Additionally, we introduce a keyframe selection strategy for dynamic scenes, which enhances camera tracking robustness against large-scale objects and improves the efficiency of mapping. Experiments on publicly available RGB-D datasets demonstrate that our method outperforms competitive neural SLAM approaches in tracking accuracy and mapping quality in dynamic environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_01189 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | NID-SLAM: Neural Implicit Representation-based RGB-D SLAM in dynamic environments Xu, Ziheng Niu, Jianwei Li, Qingfeng Ren, Tao Chen, Chen Robotics Artificial Intelligence Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving objects. In this paper we present NID-SLAM, which significantly improves the performance of neural SLAM in dynamic environments. We propose a new approach to enhance inaccurate regions in semantic masks, particularly in marginal areas. Utilizing the geometric information present in depth images, this method enables accurate removal of dynamic objects, thereby reducing the probability of camera drift. Additionally, we introduce a keyframe selection strategy for dynamic scenes, which enhances camera tracking robustness against large-scale objects and improves the efficiency of mapping. Experiments on publicly available RGB-D datasets demonstrate that our method outperforms competitive neural SLAM approaches in tracking accuracy and mapping quality in dynamic environments. |
| title | NID-SLAM: Neural Implicit Representation-based RGB-D SLAM in dynamic environments |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2401.01189 |