G2P-SLAM: Generalized RGB-D SLAM Framework for Mobile Robots in Low-Dynamic Environments
In this paper, we propose a generalized grouping and pruning method for RGB-D SLAM in low-dynamic environments. The conventional grouping and pruning methods successfully reject the effect of dynamic objects in pose graph optimization (PGO). However, these methods sometimes fail when high-dynamic ob...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9712275/ |