Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes
Visual SLAM relies on the motion information of static feature points in keyframes for both localization and map construction. Dynamic feature points interfere with inter-frame motion pose estimation, thereby affecting the accuracy of map construction and the overall robustness of the visual SLAM sy...
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MDPI AG
2025-01-01
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| author | Zhiyong Yang Kun Zhao Shengze Yang Yuhong Xiong Changjin Zhang Lielei Deng Daode Zhang |
| author_facet | Zhiyong Yang Kun Zhao Shengze Yang Yuhong Xiong Changjin Zhang Lielei Deng Daode Zhang |
| author_sort | Zhiyong Yang |
| collection | DOAJ |
| description | Visual SLAM relies on the motion information of static feature points in keyframes for both localization and map construction. Dynamic feature points interfere with inter-frame motion pose estimation, thereby affecting the accuracy of map construction and the overall robustness of the visual SLAM system. To address this issue, this paper proposes a method for eliminating feature mismatches between frames in visual SLAM under dynamic scenes. First, a spatial clustering-based RANSAC method is introduced. This method eliminates mismatches by leveraging the distribution of dynamic and static feature points, clustering the points, and separating dynamic from static clusters, retaining only the static clusters to generate a high-quality dataset. Next, the RANSAC method is introduced to fit the geometric model of feature matches, eliminating local mismatches in the high-quality dataset with fewer iterations. The accuracy of the DSSAC-RANSAC method in eliminating feature mismatches between frames is then tested on both indoor and outdoor dynamic datasets, and the robustness of the proposed algorithm is further verified on self-collected outdoor datasets. Experimental results demonstrate that the proposed algorithm reduces the average reprojection error by 58.5% and 49.2%, respectively, when compared to traditional RANSAC and GMS-RANSAC methods. The reprojection error variance is reduced by 65.2% and 63.0%, while the processing time is reduced by 69.4% and 31.5%, respectively. Finally, the proposed algorithm is integrated into the initialization thread of ORB-SLAM2 and the tracking thread of ORB-SLAM3 to validate its effectiveness in eliminating feature mismatches between frames in visual SLAM. |
| format | Article |
| id | doaj-art-db64f9f2f0d7492999f9a9ba3cd72fe6 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
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| series | Sensors |
| spelling | doaj-art-db64f9f2f0d7492999f9a9ba3cd72fe62025-08-20T03:12:35ZengMDPI AGSensors1424-82202025-01-0125362210.3390/s25030622Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic ScenesZhiyong Yang0Kun Zhao1Shengze Yang2Yuhong Xiong3Changjin Zhang4Lielei Deng5Daode Zhang6Engineering Research and Design Institute of Agricultural Equipment, Hubei University of Technology, Wuhan 430068, ChinaSchool of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaSchool of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaSchool of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaSchool of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaSchool of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, ChinaEngineering Research and Design Institute of Agricultural Equipment, Hubei University of Technology, Wuhan 430068, ChinaVisual SLAM relies on the motion information of static feature points in keyframes for both localization and map construction. Dynamic feature points interfere with inter-frame motion pose estimation, thereby affecting the accuracy of map construction and the overall robustness of the visual SLAM system. To address this issue, this paper proposes a method for eliminating feature mismatches between frames in visual SLAM under dynamic scenes. First, a spatial clustering-based RANSAC method is introduced. This method eliminates mismatches by leveraging the distribution of dynamic and static feature points, clustering the points, and separating dynamic from static clusters, retaining only the static clusters to generate a high-quality dataset. Next, the RANSAC method is introduced to fit the geometric model of feature matches, eliminating local mismatches in the high-quality dataset with fewer iterations. The accuracy of the DSSAC-RANSAC method in eliminating feature mismatches between frames is then tested on both indoor and outdoor dynamic datasets, and the robustness of the proposed algorithm is further verified on self-collected outdoor datasets. Experimental results demonstrate that the proposed algorithm reduces the average reprojection error by 58.5% and 49.2%, respectively, when compared to traditional RANSAC and GMS-RANSAC methods. The reprojection error variance is reduced by 65.2% and 63.0%, while the processing time is reduced by 69.4% and 31.5%, respectively. Finally, the proposed algorithm is integrated into the initialization thread of ORB-SLAM2 and the tracking thread of ORB-SLAM3 to validate its effectiveness in eliminating feature mismatches between frames in visual SLAM.https://www.mdpi.com/1424-8220/25/3/622VSLAMDBSCANfeature matchingimproved RANSAC |
| spellingShingle | Zhiyong Yang Kun Zhao Shengze Yang Yuhong Xiong Changjin Zhang Lielei Deng Daode Zhang Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes Sensors VSLAM DBSCAN feature matching improved RANSAC |
| title | Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes |
| title_full | Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes |
| title_fullStr | Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes |
| title_full_unstemmed | Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes |
| title_short | Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes |
| title_sort | research on a density based clustering method for eliminating inter frame feature mismatches in visual slam under dynamic scenes |
| topic | VSLAM DBSCAN feature matching improved RANSAC |
| url | https://www.mdpi.com/1424-8220/25/3/622 |
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