MOR-SLAM: A New Visual SLAM System for Indoor Dynamic Environments Based on Mask Restoration
Chengzhi Yao,
Lei Ding,
Yonghong Lan
Abstract:The traditional Simultaneous Localization and Mapping (SLAM) systems are based on the strong static assumption, and their performance will degrade significantly due to the presence of dynamic objects located in dynamic environments. To decrease the effects of the dynamic objects, based on the ORB-SLAM2 system, a novel dynamic semantic SLAM system called MOR-SLAM is presented using a mask repair method, which can accurately detect dynamic objects and realize high-precision positioning and tracking of the system… Show more
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