DymSLAM: 4D Dynamic Scene Reconstruction Based on Geometrical Motion Segmentation

Abstract

Most SLAM (Simultaneous Localization and Mapping) algorithms are based on the assumption that the scene is static. However, in practice, most real scenes usually contain moving objects. In this letter, we introduce DymSLAM, a dynamic stereo visual SLAM system being capable of reconstructing a 4D (3D + time) dynamic scene with rigid moving objects. Unlike previous attempts that have considered moving objects as outliers and ignored them, DymSLAM obtains the 6DoF motion trajectory and 3D models about the dynamic objects. We segment motion models of different moving objects by a multi-motion segmentation approach and obtain the accurate masks of moving objects. Besides ego-motion, our system can obtain the 4D (3D + time) model and 6DoF trajectory of the moving object in the global reference frame while simultaneously reconstructing the dense map of the static background. Meanwhile, DymSLAM does not rely on semantic cues or prior knowledge and is suitable for unknown rigid objects. We conducted experiments in a real-world indoor environment where both the camera and the objects were moving in a wide range. The results proved that our proposed method is a state-of-the-art SLAM system for use in this dynamic environment.