EconPapers    
Economics at your fingertips  
 

3D Semantic VSLAM of Indoor Environment Based on Mask Scoring RCNN

Chongben Tao, Yufeng Jin, Feng Cao, Zufeng Zhang, Chunguang Li and Hanwen Gao

Discrete Dynamics in Nature and Society, 2020, vol. 2020, 1-14

Abstract:

In view of existing Visual SLAM (VSLAM) algorithms when constructing semantic map of indoor environment, there are problems with low accuracy and low label classification accuracy when feature points are sparse. This paper proposed a 3D semantic VSLAM algorithm called BMASK-RCNN based on Mask Scoring RCNN. Firstly, feature points of images are extracted by Binary Robust Invariant Scalable Keypoints (BRISK) algorithm. Secondly, map points of reference key frame are projected to current frame for feature matching and pose estimation, and an inverse depth filter is used to estimate scene depth of created key frame to obtain camera pose changes. In order to achieve object detection and semantic segmentation for both static objects and dynamic objects in indoor environments and then construct dense 3D semantic map with VSLAM algorithm, a Mask Scoring RCNN is used to adjust its structure partially, where a TUM RGB-D SLAM dataset for transfer learning is employed. Semantic information of independent targets in scenes provides semantic information including categories, which not only provides high accuracy of localization but also realizes the probability update of semantic estimation by marking movable objects, thereby reducing the impact of moving objects on real-time mapping. Through simulation and actual experimental comparison with other three algorithms, results show the proposed algorithm has better robustness, and semantic information used in 3D semantic mapping can be accurately obtained.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/DDNS/2020/5916205.pdf (application/pdf)
http://downloads.hindawi.com/journals/DDNS/2020/5916205.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnddns:5916205

DOI: 10.1155/2020/5916205

Access Statistics for this article

More articles in Discrete Dynamics in Nature and Society from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().

 
Page updated 2025-03-19
Handle: RePEc:hin:jnddns:5916205