DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments.
Shihao ShenYilin CaiWenshan WangSebastian A. SchererPublished in: CoRR (2022)
Keyphrases
- dynamic environments
- motion segmentation
- visual odometry
- autonomous navigation
- simultaneous localization and mapping
- motion estimation
- mobile robot
- image sequences
- optical flow
- model selection
- moving objects
- missing data
- motion model
- ego motion
- dynamic scenes
- multibody
- motion field
- flow field
- path planning
- long range
- spectral clustering
- feature tracking
- depth images
- real environment
- position information
- indoor environments
- real time
- computational complexity
- feature selection
- computer vision