UDS-SLAM: real-time robust visual SLAM based on semantic segmentation in dynamic scenes.
Jun LiuJunyuan DongMingming HuXu LuPublished in: Ind. Robot (2024)
Keyphrases
- visual slam
- real time
- dynamic scenes
- multibody
- monocular camera
- motion segmentation
- simultaneous localization and mapping
- camera motion
- moving camera
- video sequences
- video camera
- bundle adjustment
- multi view
- motion model
- mobile robot
- space time
- multiple moving objects
- structure from motion
- superpixels
- moving objects
- motion estimation
- image sequences
- background subtraction
- multiple views
- missing data
- multi class
- feature vectors
- visual odometry