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Visual Simultaneous Localization and Mapping (V-SLAM) methods achieve remarkable performance in static environments, but face challenges in dynamic scenes where moving objects severely affect their core modules. To avoid this, dynamic…

Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…

Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…

In this paper, we propose a lightweight system, RDS-SLAM, based on ORB-SLAM2, which can accurately estimate poses and build semantic maps at object level for dynamic scenarios in real time using only one commonly used Intel Core i7 CPU. In…

Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…

At modern construction sites, utilizing GNSS (Global Navigation Satellite System) to measure the real-time location and orientation (i.e. pose) of construction machines and navigate them is very common. However, GNSS is not always…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

In this paper, we develop a robust, efficient visual SLAM system that utilizes spatial inhibition of low threshold, baseline lines, and closed-loop keyframe features. Using ORB-SLAM2, our methods include stereo matching, frame tracking,…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

The importance and demands of visual scene understanding have been steadily increasing along with the active development of autonomous systems. Consequently, there has been a large amount of research dedicated to semantic segmentation and…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

Real-time motion detection in non-stationary scenes is a difficult task due to dynamic background, changing foreground appearance and limited computational resource. These challenges degrade the performance of the existing methods in…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…

Visual SLAM in dynamic environments remains challenging, as several existing methods rely on semantic filtering that only handles known object classes, or use fixed robust kernels that cannot adapt to unknown moving objects, leading to…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…

In moving camera videos, motion segmentation is commonly performed using the image plane motion of pixels, or optical flow. However, objects that are at different depths from the camera can exhibit different optical flows even if they share…