SLAM Methods
VDO-SLAM
Introduced by Zhang et al. in VDO-SLAM: A Visual Dynamic Object-aware SLAM SystemVDO-SLAM is a feature-based stereo/RGB-D dynamic SLAM system that leverages image-based semantic information to simultaneously localise the robot, map the static and dynamic structure, and track motions of rigid objects in the scene. Input images are first pre-processed to generate instance-level object segmentation and dense optical flow. These are then used to track features on static background structure and dynamic objects. Camera poses and object motions estimated from feature tracks are then refined in a global batch optimisation, and a local map is maintained and updated with every new frame.
Source: VDO-SLAM: A Visual Dynamic Object-aware SLAM System
Papers
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Components
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