Acknowledgement
This work was supported in part by the Materials/Parts Technology Development Program (20023305, Development of intelligent delivery robot with Cloud-Edge AI for last mile delivery between nearby multi-story buildings) funded By the Ministry of Trade, Industry & Energy (MOTIE, Korea), and in part by the "Regional Innovation Strategy (RIS)" through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (MOE) (2023RIS-008).
References
- R. Mur-Artal, J. M. M. Montiel, J. D. Tardos, "ORB-SLAM: a Versatile and Accurate Monocular SLAM System," IEEE Trans. Robot., Vol. 31, No. 5, pp. 1147-1163, 2015. https://doi.org/10.1109/TRO.2015.2463671
- E Rublee, V Rabaud, K Konolige, G Bradski, "ORB: An Efficient Alternative to SIFT or SURF," In Proc. International Conference on Computer Vision (ICCV), pp. 2564-2571, 2011.
- D. Galvez-Lopez, J. D. Tardos, "Bags of Binary Words for Fast Place Recognition in Image Sequences," IEEE Trans. Robot., Vol. 28, No.5, pp. 1188-1197, 2012. https://doi.org/10.1109/TRO.2012.2197158
- M. A. Fischler, R. C. Bolles, "Random Sample Consensus: a Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography," Communications of the ACM, Vol. 24, No. 6, pp. 381-395, 1981. https://doi.org/10.1145/358669.358692
- Y. Sheikh, M. Shah, "Bayesian Modeling of Dynamic Scenes for Object Detection," IEEE Trans. Pattern Anal. Mach. Intell., Vol. 27, No. 11, pp. 1778-1792, 2005. https://doi.org/10.1109/TPAMI.2005.213
- Y. Sheikh, O. Javed, T. Kanade, "Background Subtraction for Freely Moving Cameras," In Proc. IEEE Int. Conf. Comput. Vis., pp. 1219-1225, 2009.
- B. Bescos, J. M. Facil, J. Civera, J. Neira, "DynaSLAM: Tracking, Mapping, and Inpainting in Dynamic Scenes," IEEE Robot. Autom. Lett., Vol. 3, No. 4, pp. 4076-4083, 2018. https://doi.org/10.1109/LRA.2018.2860039
- D. Lai, C. Li, B. He, "YO-SLAM: A Robust Visual SLAM Towards Dynamic Environments," In Proc. IEEE International Conference on Communications, Information System and Computer Engineering (CISCE), pp. 720-725, 2021.
- F. Zhong, S. Wang, Z. Zhang, Y. Wang, "Detect-SLAM: Making Object Detection and SLAM Mutually Beneficial," In Proc. IEEE Winter Conf. Appl. Comput. Vis. (WACV), pp. 1001-1010, 2018.
- K. He, G. Gkioxari, P. Dollar, R. Girshick, "Mask R-CNN," In Proc. International Conference on Computer Vision (ICCV), pp. 2961-2969, 2017.
- W. Liu, D. Anguelov, D. Erhan, C. Szegedy, S. Reed, C. Y. Fu, A. C. Berg, "SSD: Single Shot Multibox Detector," In Proc. Eur. Conf. Comput. Vis., pp. 21-37, 2016.
- D. Bolya, C. Zhou, F. Xiao, Y. J. Lee, "Yolact: Real-time Instance Segmentation," In Proc. IEEE Conf. Comput. Vis. Pattern Recognit., pp. 9157-9166, 2019.
- A. Walcott-Bryant, M. Kaess, H. Johannsson, J. J. Leonard, "Dynamic Pose Graph Slam: Long-term Mapping in Low Dynamic Environments," In Proc. IEEE Int. Conf. Intell. Robots Syst., pp. 1871-1878, 2012.
- D. Lee, and M. Hyun, "Solution to the SLAM Problem in Low Dynamic Environments Using a Pose Graph and an RGB-D Sensor," Sensors, Vol. 14, No. 7, pp. 12467-12496, 2014. https://doi.org/10.3390/s140712467
- S. Song, H. Lim, S. Jung, H. Myung, "G2P-SLAM: Generalized RGB-D SLAM Framework for Mobile Robots in Low-dynamic Environments," IEEE Access, Vol. 10, pp. 21370-21383, 2022. https://doi.org/10.1109/ACCESS.2022.3151133
- C. Yu, Z. Liu, X. J. Liu, F. Xie, Y. Yang, Q. Wei, Q. Fei, "DS-SLAM: A Semantic Visual SLAM Towards Dynamic Environments," In Proc. IEEE Int. Conf. Intell. Robots Syst. (IROS), pp. 1168-1174, 2018.
- L. Cui, C. Ma, "SOF-SLAM: A Semantic Visual SLAM for Dynamic Environments," IEEE Access, Vol. 7, pp. 166528-166539, 2019. https://doi.org/10.1109/ACCESS.2019.2952161
- B. K. P. Horn, B. G. Schunck, "Determining Optical Flow," Artificial Intelligence, Vol. 17, pp. 185-203, 1981. https://doi.org/10.1016/0004-3702(81)90024-2
- B. D. Lucas, T. Kanade, "An Iterative Image Registration Technique with an Application to Stereo Vision," In: IJCAI'81: 7th International Joint Conference on Artificial Intelligence, pp. 674-679, 1981.
- G. Farneback, "Two-frame Motion Estimation Based on Polynomial Expansion," In Proc. Scandinavian Conference on Image Analysis. Springer, Berlin, Heidelberg, pp. 363-370, 2003.
- S. Ren, K. He, R. Girshick, J. Sun., "Faster R-CNN: Towards Real-time Object Detection with Region Proposal Networks," In Advances in Neural Information Processing Systems, 2015.
- T. Lin, M. Maire, S. Belongie, J. Hays, P. Perona, D. Ramanan, P. Dollar, C. L. Zitnick, "Microsoft coco: Common Objects in Context," In Proc. Eur. Conf. Comput. Vis., pp. 740-755, 2014.
- E. Rosten, T. Drummond, "Machine Learning for High-speed Corner Detection," In Proc. Eur. Conf. Comput. Vis., pp. 430-443, 2006.
- M. Calonder, V. Lepetit, C. Strecha, P. Fua, "Brief: Binary Robust Independent Elementary Features," In Proc. Eur. Conf. Comput. Vis., pp. 778-792, 2010.
- A. Geiger, P. Lenz, R. Urtasun, "Are we Ready for Autonomous Driving? the Kitti Vision Benchmark Suite," In Proc. IEEE Conf. Comput. Vis. Pattern Recognit., pp. 3354-3361, 2012.
- J. Sturm, N. Engelhard, F. Endres, W. Burgard, D. Cremers, "A Benchmark for the Evaluation of RGB-D SLAM Systems," In Proc. IEEE Int. Conf. Intell. Robots Syst., pp. 573-580, 2012.