Occlusion SLAM: Improving Visual SLAM by Leveraging Occluded Points
| dc.contributor.author | Dhali, Sujan | |
| dc.contributor.author | Dasgupta, Bhaskar | |
| dc.date.accessioned | 2025-07-30T08:08:58Z | |
| dc.date.available | 2025-07-30T08:08:58Z | |
| dc.date.issued | 2025 | |
| dc.description.abstract-translated | This paper presents a visual SLAM (simultaneous localization and mapping) system, called Occlusion SLAM, that uses occluded points—map points that are sometimes visible and sometimes blocked by objects in the foreground—and demonstrates a noticeable improvement in camera motion estimation. Occlusion SLAM is built upon ORB SLAM2, with an additional segmentation module based on YOLOv8 and the proposed occluded point detection module. The segmentation module creates a binary mask image of the predefined dynamic objects, which the occlusion detection module uses to identify occluded points, as they are intermittently revealed by the motion of an object. Occlusion SLAM was evaluated on highly dynamic datasets, such as the "walking" and "crowd" sequences from the TUM and Bonn datasets, respectively. Results indicate that the occluded point detection module, combined with segmentation, achieves significant improvements in absolute trajectory estimation with minimal computational requirements compared to ORB SLAM2. The method showed its full potential when at least one-fifth of the map points in a keyframe were identified as occluded points. The experiments also show competitive performance against other well known methods, such as DS SLAM, Dyna SLAM, RDS SLAM, Crowd SLAM and SG SLAM. | en |
| dc.format | 10 s. | cs |
| dc.format.mimetype | application/pdf | |
| dc.identifier.doi | http://www.doi.org/10.24132/JWSCG.2025-8 | |
| dc.identifier.issn | 1213-6972 (print) | |
| dc.identifier.issn | 1213-6964 (online) | |
| dc.identifier.uri | http://hdl.handle.net/11025/62202 | |
| dc.language.iso | en | en |
| dc.publisher | Václav Skala - UNION Agency | cs |
| dc.rights | © Václav Skala - UNION Agency | en |
| dc.rights.access | openAccess | en |
| dc.subject | Simultánní lokalizace a mapování (SLAM) | cs |
| dc.subject | odhad pozice | cs |
| dc.subject | projekční transformace | cs |
| dc.subject | okluze | cs |
| dc.subject | sémantická segmentace | cs |
| dc.subject | úprava svazků | cs |
| dc.subject.translated | Simultaneous localization and mapping (SLAM) | en |
| dc.subject.translated | pose estimation | en |
| dc.subject.translated | projection transformation | en |
| dc.subject.translated | occlusion | en |
| dc.subject.translated | semantic segmentation | en |
| dc.subject.translated | bundle adjustment | en |
| dc.title | Occlusion SLAM: Improving Visual SLAM by Leveraging Occluded Points | en |
| dc.type | článek | cs |
| dc.type | article | en |
| dc.type.status | Peer-reviewed | en |
| dc.type.version | publishedVersion | en |
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