Fusing semantics and motion state detection for robust visual SLAM

• Main Authors: Singh, Gaurav, Wu, Meiqing, Lam, Siew-Kei
• Other Authors: College of Computing and Data Science
• Format: Conference or Workshop Item
• Language: English
• Published: 2024
• Subjects: Computer and Information Science; Semantics; Robustness
• Online Access: https://hdl.handle.net/10356/178588
• Institution: Nanyang Technological University

Achieving robust pose tracking and mapping in highly dynamic environments is a major challenge faced by existing visual SLAM (vSLAM) systems. In this paper, we increase the robustness of existing vSLAM by accurately removing moving objects from the scene so that they will not contribute to pose esti...