Real-time SLAM Pipeline in Dynamics Environment

03/04/2023
by   Alex Fu, et al.
0

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes, we are presenting a solution which use RGB-D SLAM as well as YOLO real-time object detection to segment and remove dynamic scene and then construct static scene 3D. We gathered a dataset which allows us to jointly consider semantics, geometry, and physics and thus enables us to reconstruct the static scene while filtering out all dynamic objects.

READ FULL TEXT

page 2

page 3

page 5

research
02/04/2022

CFP-SLAM: A Real-time Visual SLAM Based on Coarse-to-Fine Probability in Dynamic Environments

The dynamic factors in the environment will lead to the decline of camer...
research
10/19/2020

The STDyn-SLAM: A stereo vision and semantic segmentation approach for SLAM in dynamic outdoor environments

Commonly, SLAM algorithms are focused on a static environment, however, ...
research
11/12/2020

Learning to Segment Dynamic Objects using SLAM Outliers

We present a method to automatically learn to segment dynamic objects us...
research
03/31/2023

LivePose: Online 3D Reconstruction from Monocular Video with Dynamic Camera Poses

Dense 3D reconstruction from RGB images traditionally assumes static cam...
research
12/06/2022

PRISM: Probabilistic Real-Time Inference in Spatial World Models

We introduce PRISM, a method for real-time filtering in a probabilistic ...
research
04/08/2021

Dynamic Object Aware LiDAR SLAM based on Automatic Generation of Training Data

Highly dynamic environments, with moving objects such as cars or humans,...
research
09/11/2023

A survey on real-time 3D scene reconstruction with SLAM methods in embedded systems

The 3D reconstruction of simultaneous localization and mapping (SLAM) is...

Please sign up or login with your details

Forgot password? Click here to reset