Articles | Volume 15, issue 1
Research article
03 Jan 2024
Research article |  | 03 Jan 2024

Visual simultaneous localization and mapping (vSLAM) algorithm based on improved Vision Transformer semantic segmentation in dynamic scenes

Mengyuan Chen, Hangrong Guo, Runbang Qian, Guangqiang Gong, and Hao Cheng

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Cited articles

An, L., Pan, X., Li, T., and Wang, M.: A visual dynamic-SLAM method based semantic segmentation and multi-view geometry, in: Proceedings of the International Conference on High Performance Computing and Communication, Xiamen, China, 3–5 December 2021, 255–263,, 2022. 
Barnes, C., Shechtman, E., Finkelstein, A., and Goldman, D. B.: PatchMatch: A randomized correspondence algorithm for structural image editing, ACM T. Graphic., 28, 10 pp., 2009. 
Bescos, B., Fácil, J. M., Civera, J., and Neira, J.: DynaSLAM: Tracking, mapping, and inpainting in dynamic scenes, IEEE Robotics and Automation Letters, 3, 4076–4083,, 2018. 
Campos, C., Elvira, R., Rodríguez, J. J. G., Montiel, J. M. M., and Tardós J. D.: Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam, IEEE T. Robot., 37, 1874–1890,, 2021. 
Cao, J., Yu, J., Pan, S., Gao, F., Yu, C., Xu, Z., Huang, Z., and Wang, Y.: SLAM pose graph optimization method using dual visual odometry, Journal of Computer Aided Design and Graphics, 33, 1264–1272, 2021. 
Short summary
The proposed VTD-SLAM algorithm has the following advantages. (1) A multiclass feature enhancement and multiclass feature guidance semantic segmentation network (MSNET) is proposed to improve the semantic segmentation ability of dynamic objects. (2) Optimal neighbor pixel matching is used to complete the image of the deleted region. Our method can effectively solve the influence of dynamic objects, so that the SLAM system can operate effectively.