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arXiv · 2303.02272

Real-time SLAM Pipeline in Dynamics Environment

Alex Fu·Lingjie Kong
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Abstract

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes, we are presenting a solution which use RGB-D SLAM as well as YOLO real-time object detection to segment and remove dynamic scene and then construct static scene 3D. We gathered a dataset which allows us to jointly consider semantics, geometry, and physics and thus enables us to reconstruct the static scene while filtering out all dynamic objects.

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Alex Fu, Lingjie Kong. 2023-03-04. Real-time SLAM Pipeline in Dynamics Environment. https://arxiv.org/abs/2303.02272

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