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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 5

Dynamic SLAM joint optimization algorithm based on motion segmentation

Zhang Yutong
Fan Xinyue
Zhou Zhiyuan
Xie Yuanyuan
School of Communication & Information Engineering, Chongqing University of Posts & Telecommunications, Chongqing 400065, China
DOI: 10.19734/j.issn.1001-3695.2024.07.0349

Abstract

In order to address the challenge of traditional SLAM being easily disrupted by dynamic objects in the scene, a visual SLAM algorithm suitable for dynamic environments, referred to as GMS-SLAM, is proposed. In this approach, semantic segmentation is replaced with a geometric method based on epipolar constraints, and optical dilation is employed to further eliminate potential coplanar ambiguities. Dynamic objects are modeled using motion constraints and rigidity constraints. The graph optimization module is utilized to optimize the camera pose information, and human skeletal modeling is transformed into rigid objects to be incorporated into the graph optimization process. Additionally, by exploiting the strong correlation between camera self-motion and epipolar constraints, the segmentation network and optimization module are integrated into a unified framework for joint refinement. Experimental validation on the KITTI and highly dynamic Shibuya datasets demonstrates that GMS-SLAM achieves substantial improvements in accuracy compared to state-of-the-art dynamic visual algorithms, such as Dytan-VO, and classical dynamic algorithms like Dyna-SLAM, exhibiting superior localization performance in dynamic environments.

Foundation Support

国家自然科学基金资助项目(62271096)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.07.0349
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 5

Publish History

[2025-03-06] Accepted Paper

Cite This Article

张宇曈, 范馨月, 周志远, 等. 基于运动分割的动态SLAM联合优化算法 [J]. 计算机应用研究, 2025, 42 (5). (2025-03-06). https://doi.org/10.19734/j.issn.1001-3695.2024.07.0349. (Zhang Yutong, Fan Xinyue, Zhou Zhiyuan, et al. Dynamic SLAM joint optimization algorithm based on motion segmentation [J]. Application Research of Computers, 2025, 42 (5). (2025-03-06). https://doi.org/10.19734/j.issn.1001-3695.2024.07.0349. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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