Fast semantic-aware motion state detection for visual SLAM in dynamic environment

• Main Authors: Singh, Gaurav, Wu, Meiqing, Do, Minh Van, Lam, Siew-Kei
• Other Authors: College of Computing and Data Science
• Format: Article
• Language: English
• Published: 2024
• Subjects: Computer and Information Science; Visual SLAM; Semantic segmentation
• Online Access: https://hdl.handle.net/10356/178580
• Institution: Nanyang Technological University

Existing visual SLAM (vSLAM) systems fail to perform well in dynamic environments as they cannot effectively ignore moving objects during pose estimation and mapping. We propose a lightweight approach to improve the robustness of existing feature based RGB-D and stereo vSLAM by accurately removing d...