6 research outputs found
A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation
This paper presents a novel framework for simultaneously implementing
localization and segmentation, which are two of the most important vision-based
tasks for robotics. While the goals and techniques used for them were
considered to be different previously, we show that by making use of the
intermediate results of the two modules, their performance can be enhanced at
the same time. Our framework is able to handle both the instantaneous motion
and long-term changes of instances in localization with the help of the
segmentation result, which also benefits from the refined 3D pose information.
We conduct experiments on various datasets, and prove that our framework works
effectively on improving the precision and robustness of the two tasks and
outperforms existing localization and segmentation algorithms.Comment: 7 pages, 5 figures.This work has been accepted by ICRA 2019. The demo
video can be found at https://youtu.be/Bkt53dAehj
Learning to Segment Dynamic Objects using SLAM Outliers
We present a method to automatically learn to segment dynamic objects using
SLAM outliers. It requires only one monocular sequence per dynamic object for
training and consists in localizing dynamic objects using SLAM outliers,
creating their masks, and using these masks to train a semantic segmentation
network. We integrate the trained network in ORB-SLAM 2 and LDSO. At runtime we
remove features on dynamic objects, making the SLAM unaffected by them. We also
propose a new stereo dataset and new metrics to evaluate SLAM robustness. Our
dataset includes consensus inversions, i.e., situations where the SLAM uses
more features on dynamic objects that on the static background. Consensus
inversions are challenging for SLAM as they may cause major SLAM failures. Our
approach performs better than the State-of-the-Art on the TUM RGB-D dataset in
monocular mode and on our dataset in both monocular and stereo modes.Comment: Accepted to ICPR 202