Towards Real-time Semantic RGB-D SLAM in Dynamic Environments
Tete Ji Chen Wang Lihua Xie Tete Ji Chen Wang Lihua Xie
Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information to SLAM systems. However such methods suffer from high computational cost and cannot handle unknown objects. In this paper, we propose a real-time semantic RGB...