Simultaneous localization and mapping (SLAM) systems have been generally limited to static environments. Moving objects considerably reduce the location accuracy of SLAM systems, rendering them unsuitable for several applications. Using a combined vision camera and inertial measurement unit (IMU) to separate moving and static objects in dynamic scenes, we improve the location accuracy and adaptability of SLAM systems in these scenes. We develop a moving object-matched feature points elimination algorithm that uses IMU data to eliminate matches on moving objects but retains them on stationary objects. Moreover, we develop a second algorithm to validate the IMU data to avoid erroneous data from influencing image feature points matching. We test the new algorithms with public datasets and in a real-world experiment. In terms of the root mean square error of the location absolute pose error, the proposed method exhibited higher positioning accuracy for the public datasets than the traditional algorithms. Compared with the closed-loop errors obtained by OKVIS-mono and VINS-mono, those obtained in the practical experiment were lower by 50.17% and 56.91%, respectively. Thus, the proposed method eliminates the matching points on moving objects effectively and achieves feature point matching results that are realistic.

Typical visual simultaneous localization and mapping (SLAM) systems rely on front-end odometry for feature extraction and matching to establish the relations between adjacent images. In a low-light environment, the image obtained by a camera is dim and shows scarce information, hindering the extraction of sufficient stable feature points, consequently undermining visual SLAM. Most existing methods focus on low-light enhancement of a single image, neglecting the strong temporal correlation across images in visual SLAM. We propose a method that leverages the temporal information of an input image sequence to enhance the low-light image and employed the enhanced result to improve the feature extraction and matching quality of visual SLAM. Our method trains a three-dimensional convolutional neural network to estimate pixelwise grayscale transformation curves to obtain a low-light enhancement image. Then, the grayscale transformation curves are iteratively applied to obtain the final enhanced result. The training process of the network does not require any paired reference images. We also introduced a spatial consistency loss for the enhanced image to retain the content and texture of the original image. We further integrated our method into VINS-Mono and compared with similar low-light image enhancement methods on the TUM-VI public dataset. The proposed method provides a lower positioning error. The positioning root-mean-squared error of our method is 19.83% lower than that of Zero-DCE++ in low-light environments. Moreover, the proposed network achieves real-time operation, being suitable for integration into a SLAM system.

Most visual–inertial navigation systems (VINSs) suffer from moving objects and achieve poor positioning accuracy in dynamic environments. Therefore, to improve the positioning accuracy of VINS in dynamic environments, a monocular visual–inertial navigation system, VINS-dimc, is proposed. This system integrates various constraints on the elimination of dynamic feature points, which helps to improve the positioning accuracy of VINSs in dynamic environments. First, the motion model, computed from the inertial measurement unit (IMU) data, is subjected to epipolar constraint and flow vector bound (FVB) constraint to eliminate feature matching that deviates significantly from the motion model. This algorithm then combines multiple feature point matching constraints that avoid the lack of single constraints and make the system more robust and universal. Finally, VINS-dimc was proposed, which can adapt to a dynamic environment. Experiments show that the proposed algorithm could accurately eliminate the dynamic feature points on moving objects while preserving the static feature points. It is a great help for the positioning accuracy and robustness of VINSs, whether they are from self-collected data or public datasets.

Positioning information has become one of the most important information for processing and displaying on smart mobile devices. In this paper, we propose a visual positioning method using RGB-D image on smart mobile devices. Firstly, the pose of each image in the training set is calculated through feature extraction and description, image registration, and pose map optimization. Then, in the image retrieval stage, the training set and the query set are clustered to generate the vector of local aggregated descriptors (VLAD) description vector. In order to overcome the problem that the description vector loses the image color information and improve the retrieval accuracy under different lighting conditions, the opponent color information and depth information are added to the description vector for retrieval. Finally, using the point cloud corresponding to the retrieval result image and its pose, the pose of the retrieved image is calculated by perspective-n-point (PnP) method. The results of indoor scene positioning under different illumination conditions show that the proposed method not only improves the positioning accuracy compared with the original VLAD and ORB-SLAM2, but also has high computational efficiency.