Visual SLAM Based on Semantic Segmentation and Geometric Constraints for Dynamic Indoor Environments

Visual SLAM Based on Semantic Segmentation and Geometric Constraints for Dynamic Indoor Environments

Simultaneous localization and mapping (SLAM), a core technology of mobile robots and autonomous driving, has received more and more attention in recent years. However, most of the existing visual SLAM algorithms do not consider the impact of dynamic objects on the visual SLAM system, resulting in si...

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Bibliographic Details
Main Authors: Shiqiang Yang, Cheng Zhao, Zhengkun Wu, Yan Wang, Guodong Wang, Dexin Li
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Visual SLAM
ORB-SLAM2
dynamic feature filtering
semantic map
Online Access:https://ieeexplore.ieee.org/document/9804480/

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