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

• المؤلفون الرئيسيون: Singh, Gaurav, Wu, Meiqing, Do, Minh Van, Lam, Siew-Kei
• مؤلفون آخرون: College of Computing and Data Science
• التنسيق: مقال
• اللغة: English
• منشور في: 2024
• الموضوعات: Computer and Information Science; Visual SLAM; Semantic segmentation
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/178580
• المؤسسة: 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...