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SLAMANTIC – Leveraging semantics to improve VSLAM in dynamic environments
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| Matthias Schorghuber, Daniel Steininger, Yohann Cabon, Martin Humenberger, Margrit Gelautz |
| Workshop on Deep Learning for Visual SLAM at ICCV19, Seoul, South Korea, 27 October-2 November, 2019 |
| Download |
@inproceedings{schorghuber2019slamantic,
title={SLAMANTIC-Leveraging Semantics to Improve VSLAM in Dynamic Environments},
author={Schorghuber, Matthias and Steininger, Daniel and Cabon, Yohann and Humenberger, Martin and Gelautz, Margrit},
booktitle={Proceedings of the IEEE International Conference on Computer Vision Workshops},
pages={0--0},
year={2019}
}In this paper, we tackle the challenge for VSLAM of handling non-static environments. We propose to include semantic information obtained by deep learning methods in the traditional geometric pipeline. Specifically, we compute a confidence measure for each map point as a function of its semantic class (car, person, building, etc.) and its detection consistency over time. The confidence is then applied to guide the usage of each point in the mapping and localization stage. Points with high confidence are used to verify points with low confidence in order to select the final set of points for pose computation and mapping. Furthermore, we can handle map points whose state may change between static and dynamic (a car can be parked or in motion). Evaluating our method on public datasets, we show that it can successfully solve challenging situations in dynamic environments which cause state-of-the-art baseline VSLAM algorithms to fail and that it maintains performance on static scenes. Code is available at https://github.com/mthz/slamantic.
To make robots autonomous in real-world everyday spaces, they should be able to learn from their interactions within these spaces, how to best execute tasks specified by non-expert users in a safe and reliable way. To do so requires sequential decision-making skills that combine machine learning, adaptive planning and control in uncertain environments as well as solving hard combinatorial optimisation problems. Our research combines expertise in reinforcement learning, computer vision, robotic control, sim2real transfer, large multimodal foundation models and neural combinatorial optimisation to build AI-based architectures and algorithms to improve robot autonomy and robustness when completing everyday complex tasks in constantly changing environments.
VISION
The research we conduct on expressive visual representations is applicable to visual search, object detection, image classification and the automatic extraction of 3D human poses and shapes that can be used for human behavior understanding and prediction, human-robot interaction or even avatar animation. We also extract 3D information from images that can be used for intelligent robot navigation, augmented reality and the 3D reconstruction of objects, buildings or even entire cities.
Our work covers the spectrum from unsupervised to supervised approaches, and from very deep architectures to very compact ones. We’re excited about the promise of big data to bring big performance gains to our algorithms but also passionate about the challenge of working in data-scarce and low-power scenarios.
Furthermore, we believe that a modern computer vision system needs to be able to continuously adapt itself to its environment and to improve itself via lifelong learning. Our driving goal is to use our research to deliver embodied intelligence to our users in robotics, autonomous driving, via phone cameras and any other visual means to reach people wherever they may be.
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