{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T17:28:37Z","timestamp":1778347717771,"version":"3.51.4"},"reference-count":38,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2022,5,19]],"date-time":"2022-05-19T00:00:00Z","timestamp":1652918400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41901401"],"award-info":[{"award-number":["41901401"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["BK20190743"],"award-info":[{"award-number":["BK20190743"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2021M691653"],"award-info":[{"award-number":["2021M691653"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["41901401"],"award-info":[{"award-number":["41901401"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20190743"],"award-info":[{"award-number":["BK20190743"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["2021M691653"],"award-info":[{"award-number":["2021M691653"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["41901401"],"award-info":[{"award-number":["41901401"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["BK20190743"],"award-info":[{"award-number":["BK20190743"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2021M691653"],"award-info":[{"award-number":["2021M691653"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Now, most existing dynamic RGB-D SLAM methods are based on deep learning or mathematical models. Abundant training sample data is necessary for deep learning, and the selection diversity of semantic samples and camera motion modes are closely related to the robust detection of moving targets. Furthermore, the mathematical models are implemented at the feature-level of segmentation, which is likely to cause sub or over-segmentation of dynamic features. To address this problem, different from most feature-level dynamic segmentation based on mathematical models, a non-prior semantic dynamic segmentation based on a particle filter is proposed in this paper, which aims to attain the motion object segmentation. Firstly, GMS and optical flow are used to calculate an inter-frame difference image, which is considered an observation measurement of posterior estimation. Then, a motion equation of a particle filter is established using Gaussian distribution. Finally, our proposed segmentation method is integrated into the front end of visual SLAM and establishes a new dynamic SLAM, PFD-SLAM. Extensive experiments on the public TUM datasets and real dynamic scenes are conducted to verify location accuracy and practical performances of PFD-SLAM. Furthermore, we also compare experimental results with several state-of-the-art dynamic SLAM methods in terms of two evaluation indexes, RPE and ATE. Still, we provide visual comparisons between the camera estimation trajectories and ground truth. The comprehensive verification and testing experiments demonstrate that our PFD-SLAM can achieve better dynamic segmentation results and robust performances.<\/jats:p>","DOI":"10.3390\/rs14102445","type":"journal-article","created":{"date-parts":[[2022,5,20]],"date-time":"2022-05-20T00:18:11Z","timestamp":1653005891000},"page":"2445","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":40,"title":["PFD-SLAM: A New RGB-D SLAM for Dynamic Indoor Environments Based on Non-Prior Semantic Segmentation"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2687-000X","authenticated-orcid":false,"given":"Chenyang","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Civil Engineering and Architecture, Changzhou Institute of Technology, Changzhou 213032, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8482-6309","authenticated-orcid":false,"given":"Rongchun","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Geographic and Biologic Information, Nanjing University of Posts and Telecommunications, Nanjing 210023, China"},{"name":"School of Communications and Information Engineering, Nanjing University of Posts and Telecommunications, Nanjing 210023, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sheng","family":"Jin","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Autonomous Systems, School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuefeng","family":"Yi","sequence":"additional","affiliation":[{"name":"School of Earth Science and Engineering, Hohai University, Nanjing 211000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,19]]},"reference":[{"key":"ref_1","first-page":"770","article-title":"Progress and Applications of Visual SLAM","volume":"47","author":"Di","year":"2018","journal-title":"Acta Geod. 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