ESO-SLAM: Tightly-Coupled and Simultaneous Estimation of Self and Multi-Object Pose Via Sensor Fusion

Simultaneous Localization and Mapping (SLAM) is widely used in applications such as robotics and autonomous driving, with methods involving multi-sensor fusion demonstrat- ing excellent performance. However, they simply reject dynamic features and ignore the mutual benefits of self and dynamic objects, which greatly limits their application in actual high- dynamic scenes. To address this issue, we propose ESO-SLAM, a tightly-coupled system for simultaneous self and multi-object pose estimation achieved through sensor fusion. This system employs a multi-probability fusion tracker based on filter to establish more robust object-level data association. Building upon this, we introduce a method that combines 3D Kalman filter velocity priors and camera optical flow decoupling for dynamic point cloud removal, aiming at improving the accuracy of self-pose estimation in odometry. Finally, we jointly refine the poses of the robot and objects using multiple constraint factors within our proposed framework. Experimental results on the KITTI raw dataset demonstrate that our approach achieves better pose accuracy for both self and tracked objects compared to baseline and state-of-the-art techniques. Furthermore, the proposed method exhibits feasibility in real-time performance to ensure its practical application value.