MID-fusion: Octree-based object-level multi-instance dynamic SLAM

Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew Davison, Stefan Leutenegger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

134 Scopus citations

Abstract

We propose a new multi-instance dynamic RGBD SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric, semantic, and motion properties for arbitrary objects in the scene. For each incoming frame, we perform instance segmentation to detect objects and refine mask boundaries using geometric and motion information. Meanwhile, we estimate the pose of each existing moving object using an object-oriented tracking method and robustly track the camera pose against the static scene. Based on the estimated camera pose and object poses, we associate segmented masks with existing models and incrementally fuse corresponding colour, depth, semantic, and foreground object probabilities into each object model. In contrast to existing approaches, our system is the first system to generate an object-level dynamic volumetric map from a single RGB-D camera, which can be used directly for robotic tasks. Our method can run at 2-3 Hz on a CPU, excluding the instance segmentation part. We demonstrate its effectiveness by quantitatively and qualitatively testing it on both synthetic and real-world sequences.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5231-5237
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Country/TerritoryCanada
CityMontreal
Period20/05/1924/05/19

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