Highly Dynamic Visual SLAM Dense Map Construction Based on Indoor Environments
Jianfeng Mei,
Tao Zuo,
Dong Song
Abstract:In indoor highly dynamic scenes or scenes with missing a priori dynamic information, most current schemes cannot effectively avoid the impact of moving objects on the performance of SLAM (Simultaneous Localization and Mapping) systems. In order to solve the problem of accurate localization and map building for mobile robots in indoor highly dynamic environments, we propose a dynamic RGB-D visual SLAM dense map building method based on pyramidal L-K (Lucas-Kanade) optical flow with multi-view geometric constrai… Show more
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