SG-SLAM: A Real-Time RGB-D Visual SLAM Toward Dynamic Scenes With Semantic and Geometric Information.
Cheng ShuhongChanghe SunZhang ShijunDianfan ZhangPublished in: IEEE Trans. Instrum. Meas. (2023)
Keyphrases
- visual slam
- geometric information
- real time
- dynamic scenes
- multibody
- monocular camera
- simultaneous localization and mapping
- dynamic environments
- moving camera
- camera motion
- motion segmentation
- multi view
- geometric constraints
- bundle adjustment
- multiple moving objects
- moving objects
- video sequences
- indoor environments
- real scenes
- space time
- video camera
- frame rate
- epipolar geometry
- background subtraction
- data association
- multiple views
- optical flow
- image sequences
- multiple cameras
- human body
- mobile robot
- dynamic programming
- spatio temporal