DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments.
Shihao ShenYilin CaiWenshan WangSebastian A. SchererPublished in: ICRA (2023)
Keyphrases
- dynamic environments
- motion segmentation
- visual odometry
- autonomous navigation
- simultaneous localization and mapping
- optical flow
- image sequences
- mobile robot
- motion estimation
- ego motion
- moving objects
- dynamic scenes
- missing data
- motion model
- path planning
- multibody
- flow field
- model selection
- motion field
- spectral clustering
- long range
- depth images
- feature tracking
- real time
- range data
- position information
- real environment
- motion parameters
- motion analysis
- vector field
- object tracking
- feature selection