71183 20190902095627.0 doi 10.1109/LRA.2018.2860039 sideral 106907 ART-2018-106907 eng Bescós, Berta Universidad de Zaragoza DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes 2018 Access copy available to the general public Unrestricted The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service robotics or autonomous vehicles. In this paper we present DynaSLAM, a visual SLAM system that, building on ORB- SLAM2 [1], adds the capabilities of dynamic object detection and background inpainting. DynaSLAM is robust in dynamic scenarios for monocular, stereo and RGB-D configurations. We are capable of detecting the moving objects either by multi-view geometry, deep learning or both. Having a static map of the scene allows inpainting the frame background that has been occluded by such dynamic objects. We evaluate our system in public monocular, stereo and RGB-D datasets. We study the impact of several accuracy/speed trade-offs to assess the limits of the proposed methodology. DynaSLAM outperforms the accuracy of standard visual SLAM baselines in highly dynamic scenarios. And it also estimates a map of the static parts of the scene, which is a must for long-term applications in real-world environments info:eu-repo/grantAgreement/ES/DGA/T04 info:eu-repo/grantAgreement/ES/MINECO/BES-2016-077836 info:eu-repo/grantAgreement/ES/MINECO/DPI2015-67275 info:eu-repo/grantAgreement/ES/MINECO/DPI2015-68905-P info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Fácil, José María Universidad de Zaragoza (orcid)0000-0003-1368-1151 Civera, Javier Universidad de Zaragoza (orcid)0000-0003-0668-977X Neira, José Universidad de Zaragoza 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 5007 570 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Lenguajes y Sistemas Inf. 3, 4 (2018), 4076 - 4083 IEEE Robot. autom. let. IEEE ROBOTICS AND AUTOMATION LETTERS 2377-3766 3349022 http://zaguan.unizar.es/record/71183/files/texto_completo.pdf Versión publicada 134226 http://zaguan.unizar.es/record/71183/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:71183 articulos driver 2019-09-02-09:52:29 ARTICLE