An Improved ORB-SLAM2 in Dynamic Scene with Instance Segmentation

In order to improve the accuracy of ORB-SLAM2 poses estimation in dynamic environment, an Instance Segmentation method is proposed to remove the moving feature points distributed on the human body and improve the pose accuracy in view of the deception of motion. In this method, ORB feature points are extracted from the input image, and the image is segmented to obtain the position of the pixels in the image. Then the feature points distributed above the human are removed, and the position and attitude are estimated by using the feature points which are relatively stable after the removal. The improved method is used to test on TUM data set. The results show that the improved system can significantly reduce the absolute error and relative drift of pose estimation in dynamic environment, which proves that this method can significantly improve the accuracy of pose estimation in dynamic environment compared with the traditional ORB-SLAM2 system.