Dynamic-DSO: Direct Sparse Odometry Using Objects Semantic Information for Dynamic Environments

Dynamic-DSO: Direct Sparse Odometry Using Objects Semantic Information for Dynamic Environments

Traditional Simultaneous Localization and Mapping (SLAM) (with loop closure detection), or Visual Odometry (VO) (without loop closure detection), are based on the static environment assumption. When working in dynamic environments, they perform poorly whether using direct methods or indirect methods...

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Bibliographic Details
Main Authors: Chao Sheng, Shuguo Pan, Wang Gao, Yong Tan, Tao Zhao
Format: Article
Language:English
Published: MDPI AG 2020-02-01
Series:Applied Sciences
Subjects:
slam
vo
static environment assumption
cnns
semantic segmentation
dynamic environments
direct method
sliding window optimization
Online Access:https://www.mdpi.com/2076-3417/10/4/1467

Internet

https://www.mdpi.com/2076-3417/10/4/1467

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