GMP-SLAM: A real-time RGB-D SLAM in Dynamic Environments using GPU Dynamic Points Detection Method Article Swipe
Zhanming Hu
,
Hao Fang
,
Rui Zhong
,
Shaozhun Wei
,
Bochen Xu
,
Lihua Dou
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1016/j.ifacol.2023.10.1282
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1016/j.ifacol.2023.10.1282
Simultaneous Localization and Mapping (SLAM) is a fundamental technology for robotics. Vision-based SLAM has been developed for many years, but it is still difficult for SLAM system to handle dynamic environments. In this paper, we present GMP-SLAM, a realtime RGB-D SLAM system for highly dynamic environments with the help of GPU Grid Map Projection— a GPU dynamic points detection method we design. SLAM is a time-sensitive system for robotics, and it is hard to reach real time, especially in dynamic environments because it is necessary to track moving objects and it takes a lot of time. GMP-SLAM is based on ORB-SLAM2, which is one of the best feature-based SLAM frameworks and can reach real time just in CPU. But ORB-SLAM2 cannot handle highly dynamic environments very well, and most work focus on tracking moving objects with a neural network, which cannot reach real time even with the help of GPU. To solve real-time problem, we propose an all-in-parallel dynamic points detection framework for visual simultaneous localization and mapping (VSLAM) in dynamic environments based on 3D occupancy grid maps. Our SLAM system can provide not only higher trajectory accuracy but also a 3D grid map for navigation. We test our SLAM system in our real-world datasets we record and get higher trajectory accuracy than ORB-SLAM2. At the same time, our system can run nearly in 20Hz, which is much better than existing VSLAM framework in dynamic environments.
Related Topics
Concepts
Simultaneous localization and mapping
Computer science
Artificial intelligence
Orb (optics)
Computer vision
Occupancy grid mapping
Trajectory
RGB color model
Robotics
Monocular
Robot
Mobile robot
Image (mathematics)
Astronomy
Physics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1016/j.ifacol.2023.10.1282
- OA Status
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- Cited By
- 2
- References
- 29
- Related Works
- 10
- OpenAlex ID
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All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4388918917Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1016/j.ifacol.2023.10.1282Digital Object Identifier
- Title
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GMP-SLAM: A real-time RGB-D SLAM in Dynamic Environments using GPU Dynamic Points Detection MethodWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2023Year of publication
- Publication date
-
2023-01-01Full publication date if available
- Authors
-
Zhanming Hu, Hao Fang, Rui Zhong, Shaozhun Wei, Bochen Xu, Lihua DouList of authors in order
- Landing page
-
https://doi.org/10.1016/j.ifacol.2023.10.1282Publisher landing page
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YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
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https://doi.org/10.1016/j.ifacol.2023.10.1282Direct OA link when available
- Concepts
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Simultaneous localization and mapping, Computer science, Artificial intelligence, Orb (optics), Computer vision, Occupancy grid mapping, Trajectory, RGB color model, Robotics, Monocular, Robot, Mobile robot, Image (mathematics), Astronomy, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
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2Total citation count in OpenAlex
- Citations by year (recent)
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2025: 1, 2024: 1Per-year citation counts (last 5 years)
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29Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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