Robust Dense Mapping for Large-Scale Dynamic Environments

7 May 2019Ioan Andrei BârsanPeidong LiuMarc PollefeysAndreas Geiger

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but currently stationary objects separately, which is desirable for high-level mobile robotic tasks such as path planning in crowded environments... (read more)

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