Privacy-Preserved Visual Simultaneous Localization and Mapping Based on a Dual-Component Approach

摘要

Edge-assisted visual simultaneous localization and mapping (SLAM) is widely used in autonomous driving, robot navigation, and augmented reality for environmental perception, map construction, and real-time positioning. However, it poses significant privacy risks, as input images may contain sensitive information, and generated 3D point clouds can reconstruct original scenes. To address these concerns, this paper proposes a dual-component privacy-preserving approach for visual SLAM. First, a privacy protection method for images is proposed, which combines object detection and image inpainting to protect privacy-sensitive information in images. Second, an encryption algorithm is introduced to convert 3D point cloud data into a 3D line cloud through dimensionality enhancement. Integrated with ORB-SLAM3, the proposed method is evaluated on the Oxford Robotcar and KITTI datasets. Results demonstrate that it effectively safeguards privacy-sensitive information while ORB-SLAM3 maintains accurate pose estimation in dynamic outdoor scenes. Furthermore, the encrypted line cloud prevents unauthorized attacks on recovering the original point cloud. This approach enhances privacy protection in visual SLAM and is expected to expand its potential applications.