TY  - EJOU
AU  - Peng, Jiansheng 
AU  - Qian, Wei 
AU  - Zhang, Hongyu 

TI  - PPS-SLAM: Dynamic Visual SLAM with a Precise Pruning Strategy
T2  - Computers, Materials \& Continua

PY  - 2025
VL  - 82
IS  - 2
SN  - 1546-2226

AB  - Dynamic visual SLAM (Simultaneous Localization and Mapping) is an important research area, but existing methods struggle to balance real-time performance and accuracy in removing dynamic feature points, especially when semantic information is missing. This paper presents a novel dynamic SLAM system that uses optical flow tracking and epipolar geometry to identify dynamic feature points and applies a regional dynamic probability method to improve removal accuracy. We developed two innovative algorithms for precise pruning of dynamic regions: first, using optical flow and epipolar geometry to identify and prune dynamic areas while preserving static regions on stationary dynamic objects to optimize tracking performance; second, propagating dynamic probabilities across frames to mitigate the impact of semantic information loss in some frames. Experiments show that our system significantly reduces trajectory and pose errors in dynamic scenes, achieving dynamic feature point removal accuracy close to that of semantic segmentation methods, while maintaining high real-time performance. Our system performs exceptionally well in highly dynamic environments, especially where complex dynamic objects are present, demonstrating its advantage in handling dynamic scenarios. The experiments also show that while traditional methods may fail in tracking when semantic information is lost, our approach effectively reduces the misidentification of dynamic regions caused by such loss, thus improving system robustness and accuracy.
KW  - Visual SLAM; dynamic SLAM; YOLOv8

DO  - 10.32604/cmc.2024.058028