MOLO-SLAM: A Semantic SLAM for Accurate Removal of Dynamic Objects in Agricultural Environments

摘要

Visual simultaneous localization and mapping (VSLAM) is a foundational technology that enables robots to achieve fully autonomous locomotion, exploration, inspection, and more within complex environments. Its applicability also extends significantly to agricultural settings. While numerous impressive VSLAM systems have emerged, a majority of them rely on static world assumptions. This reliance constrains their use in real dynamic scenarios and leads to increased instability when applied to agricultural contexts. To address the problem of detecting and eliminating slow dynamic objects in outdoor forest and tea garden agricultural scenarios, this paper presents a dynamic VSLAM innovation called MOLO-SLAM (mask ORB label optimization SLAM). MOLO-SLAM merges the ORBSLAM2 framework with the Mask-RCNN instance segmentation network, utilizing masks and bounding boxes to enhance the accuracy and cleanliness of 3D point clouds. Additionally, we used the BundleFusion reconstruction algorithm for 3D mesh model reconstruction. By comparing our algorithm with various dynamic VSLAM algorithms on the TUM and KITTI datasets, the results demonstrate significant improvements, with enhancements of up to 97.72%, 98.51%, and 28.07% relative to the original ORBSLAM2 on the three datasets. This showcases the outstanding advantages of our algorithm.