动态环境下的视觉SLAM研究评述

doi:10.13973/j.cnki.robot.200468

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王柯赛, 姚锡凡, 黄宇, 刘敏, 陆玉前. 动态环境下的视觉SLAM研究评述[J]. 机器人, 2021, 43(6): 715-732.DOI: 10.13973/j.cnki.robot.200468. WANG Kesai, YAO Xifan, HUANG Yu, LIU Min, LU Yuqian. Review of Visual SLAM in Dynamic Environment. ROBOT, 2021, 43(6): 715-732. DOI: 10.13973/j.cnki.robot.200468.

摘要针对动态环境下的视觉SLAM（同时定位与地图构建）系统，首先分析了环境中动态目标对经典视觉SLAM系统的危害性，并以一种新颖的方式将当前动态视觉SLAM系统分为基于相机自身运动的系统和不依赖于相机自身运动的系统两大类．随后分析总结了当前动态环境下视觉SLAM的研究进展．最后对动态环境下的视觉SLAM处理手段及未来发展趋势进行讨论与展望．

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	王柯赛
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	陆玉前

关键词 ：视觉SLAM（同时定位与地图构建）, 动态环境, 相机自身运动, 语义分割

Abstract：For visual SLAM (simultaneous localization and mapping) systems in dynamic environments, the harmfulness of dynamic objects in the environment to the classic visual SLAM system is analyzed firstly, and the existing dynamic visual SLAM systems are divided into two categories according to whether the system is based on camera ego-motion or not. Then, the current research status of visual SLAM in dynamic environment is summarized and analyzed. Finally, the processing method and future trend of visual SLAM in dynamic environment are discussed and prospected.

Key words： visual SLAM (simultaneous localization and mapping) dynamic environment camera ego-motion semantic segmentation

收稿日期: 2020-11-13 录用日期: 2021-03-23

TP242.6

基金资助:国家自然科学基金委员会与英国爱丁堡皇家学会合作交流项目（51911530245）；国家自然科学基金（51675186）；国家留学基金管理委员会资助项目（留金美[2020]1509号）；广东省基础与应用基础研究基金（2021A1515010506）

通讯作者: 姚锡凡,mexfyao@scut.edu.cn E-mail: mexfyao@scut.edu.cn

作者简介: 王柯赛(1990-),男,博士生.研究领域:视觉SLAM,机器视觉,图像处理.
姚锡凡(1964-),男,博士,教授.研究领域:智能制造,机器视觉.
黄宇(1995-),男,硕士生.研究领域:视觉SLAM,机器视觉.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.200468 或 https://robot.sia.cn/CN/Y2021/V43/I6/715

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