A Semantic Topology Graph to Detect Re-Localization and Loop Closure of the Visual Simultaneous Localization and Mapping System in a Dynamic Environment

A Semantic Topology Graph to Detect Re-Localization and Loop Closure of the Visual Simultaneous Localization and Mapping System in a Dynamic Environment

Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to dynamic real-world environments. The correctness o...

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Bibliographic Details
Main Authors: Yang Wang, Yi Zhang, Lihe Hu, Wei Wang, Gengyu Ge, Shuyi Tan
Format: Article
Language:English
Published: MDPI AG 2023-10-01
Series:Sensors
Subjects:
semantic topology graph
Visual SLAM
ORB-SLAM2
dynamic environment
mobile robots
Online Access:https://www.mdpi.com/1424-8220/23/20/8445

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