DOE-SLAM: Dynamic Object Enhanced Visual SLAM
نویسندگان
چکیده
منابع مشابه
Towards Visual SLAM in Dynamic Environments
To build autonomous robots capable of operating wherever humans do, we must develop local ization and mapping strategies that can handle changing environments. Recent work by Se, Lowe and Little has shown that current machine vision technology makes visual SLAM feasible in a potentially wide range of static environments. However, their system treats vision system errors in a manner which impos...
متن کاملObject-based Visual SLAM: How Object Identity Informs Geometry
Objects are rich information sources about the environment. A 3D model of the objects, together with their semantic labels, can be used for camera localization as well as for cognitive reasoning about the environment. However, traditional frameworks for scene reconstruction usually map a cloud of points using structure-from-motion techniques, but do not provide objects representation. On the ot...
متن کاملDense visual SLAM
Visual SLAM systems aim to estimate the motion of a moving camera together with the geometric structure and appearance of the world being observed. To the extent that this is possible using only an image stream, the core problem that must be solved by any practical visual SLAM system is that of obtaining correspondence throughout the images captured. Modern visual SLAM pipelines commonly obtain...
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ژورنال
عنوان ژورنال: Sensors
سال: 2021
ISSN: 1424-8220
DOI: 10.3390/s21093091