D-VINS: Dynamic Adaptive Visual–Inertial SLAM with IMU Prior and Semantic Constraints in Dynamic Scenes

D-VINS: Dynamic Adaptive Visual–Inertial SLAM with IMU Prior and Semantic Constraints in Dynamic Scenes

Visual–inertial SLAM algorithms empower robots to autonomously explore and navigate unknown scenes. However, most existing SLAM systems heavily rely on the assumption of static environments, making them ineffective when confronted with dynamic objects in the real world. To enhance the robustness and...

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Bibliographic Details
Main Authors: Yang Sun, Qing Wang, Chao Yan, Youyang Feng, Rongxuan Tan, Xiaoqiong Shi, Xueyan Wang
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Remote Sensing
Subjects:
VSLAM
dynamic environments
object detection
geometric constraint
IMU prior constraint
Online Access:https://www.mdpi.com/2072-4292/15/15/3881

Internet

https://www.mdpi.com/2072-4292/15/15/3881

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