Data association and loop closure in semantic dynamic SLAM using the table retrieval method

摘要

Simultaneous localization and mapping (SLAM) plays an important role in the area of robotics and augmented reality to simultaneously obtain its location and construct environment maps in real-time. There are many challenges in SLAM, such as data association, loop closure, and dynamic environments. In this paper, we propose a table retrieval method for SLAM data association and loop closure using semantic information in a dynamic environment. The detected landmarks are stored in a table for retrieval, and each landmark has its own semantic and location information for data association and loop closure. The proposed method only checks the corresponding items, so it is not necessary to traverse all the landmarks in the reference frames, which is beneficial to real-time performance and cost efficiency. Experiments are performed to verify the effectiveness of our method on the public TUM and KITTI dataset. The results show that our system achieves considerable performance improvement compared with state-of-the-art methods.