DyGS-SLAM: Realistic Map Reconstruction in Dynamic Scenes Based on Double-Constrained Visual SLAM

Abstract

Visual SLAM is widely applied in robotics and remote sensing. The fusion of Gaussian radiance fields and Visual SLAM has demonstrated astonishing efficacy in constructing high-quality dense maps. While existing methods perform well in static scenes, they are prone to the influence of dynamic objects in real-world dynamic environments, thus making robust tracking and mapping challenging. We introduce DyGS-SLAM, a Visual SLAM system that employs dual constraints to achieve high-fidelity static map reconstruction in dynamic environments. We extract ORB features within the scene, and use open-world semantic segmentation models and multi-view geometry to construct dual constraints, forming a zero-shot dynamic information elimination module while recovering backgrounds occluded by dynamic objects. Furthermore, we select high-quality keyframes and use them for loop closure detection and global optimization, constructing a foundational Gaussian map through a set of determined point clouds and poses and integrating repaired frames for rendering new viewpoints and optimizing 3D scenes. Experimental results on the TUM RGB-D, Bonn, and Replica datasets, as well as real scenes, demonstrate that our method has excellent localization accuracy and mapping quality in dynamic scenes.

Keywords

• visual SLAM
• reconstruction
• dynamic scenes
• Gaussian Splatting
• mapping