BY-SLAM: Dynamic Visual SLAM System Based on BEBLID and Semantic Information Extraction

Abstract

SLAM is a critical technology for enabling autonomous navigation and positioning in unmanned vehicles. Traditional visual simultaneous localization and mapping algorithms are built upon the assumption of a static scene, overlooking the impact of dynamic targets within real-world environments. Interference from dynamic targets can significantly degrade the system’s localization accuracy or even lead to tracking failure. To address these issues, we propose a dynamic visual SLAM system named BY-SLAM, which is based on BEBLID and semantic information extraction. Initially, the BEBLID descriptor is introduced to describe Oriented FAST feature points, enhancing both feature point matching accuracy and speed. Subsequently, FasterNet replaces the backbone network of YOLOv8s to expedite semantic information extraction. By using the results of DBSCAN clustering object detection, a more refined semantic mask is obtained. Finally, by leveraging the semantic mask and epipolar constraints, dynamic feature points are discerned and eliminated, allowing for the utilization of only static feature points for pose estimation and the construction of a dense 3D map that excludes dynamic targets. Experimental evaluations are conducted on both the TUM RGB-D dataset and real-world scenarios and demonstrate the effectiveness of the proposed algorithm at filtering out dynamic targets within the scenes. On average, the localization accuracy for the TUM RGB-D dataset improves by 95.53% compared to ORB-SLAM3. Comparative analyses against classical dynamic SLAM systems further corroborate the improvement in localization accuracy, map readability, and robustness achieved by BY-SLAM.