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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/19986
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| タイトル: | Adaptive Prior Scene-Object SLAM for Dynamic Environments |
| 著者: | Zhang, Haolan
Nguyen Canh, Thanh
Li, Chenghao
Chong, Nak Young |
| 発行日: | 2025-09-04 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | The 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR) |
| 開始ページ: | 43 |
| 終了ページ: | 48 |
| DOI: | 10.1109/RCAR65431.2025.11139743 |
| 抄録: | Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift in dynamic scenarios. While recent advancements have improved SLAM performance in such environments, these systems still struggle with localization drift, particularly due to abrupt viewpoint changes and poorly characterized moving objects. In this paper, we propose a novel scene-object-based reliability assessment framework that comprehensively evaluates SLAM stability through both current frame quality metrics and scene changes relative to reliable reference frames. Furthermore, to tackle the lack of error correction mechanisms in existing systems when pose estimation becomes unreliable, we employ a pose refinement strategy that leverages information from reliable frames to optimize camera pose estimation, effectively mitigating the adverse effects of dynamic interference. Extensive experiments on the TUM RGB-D datasets demonstrate that our approach achieves substantial improvements in localization accuracy and system robustness under challenging dynamic scenarios. |
| Rights: | This is the author's version of the work. Copyright (C) 2025 IEEE. The 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR), Toyama, Japan, pp. 43-48. DOI: https://doi.org/10.1109/RCAR65431.2025.11139743. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| URI: | http://hdl.handle.net/10119/19986 |
| 資料タイプ: | author |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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| N-CHONG-I-0906.pdf | | 8638Kb | Adobe PDF | 見る/開く |
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