Improving monocular visual SLAM in dynamic environments: an optical-flow-based approach.
Jiyu ChengYuxiang SunMax Q.-H. MengPublished in: Adv. Robotics (2019)
Keyphrases
- visual slam
- dynamic environments
- optical flow
- mobile robot
- path planning
- simultaneous localization and mapping
- image sequences
- camera motion
- visual odometry
- least squares
- optical flow estimation
- flow field
- motion model
- motion field
- autonomous navigation
- motion segmentation
- motion parameters
- velocity field
- real environment
- ego motion
- feature tracking
- three dimensional