Liu, Hanjie, Liu, Guoliang, Tian, Guohui, Xin, Shiqing and Ji, Ze ![]() ![]() |
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Abstract
Visual simultaneous localization and mapping (SLAM) is the core of intelligent robot navigation system. Many traditional SLAM algorithms assume that the scene is static. When a dynamic object appears in the environment, the accuracy of visual SLAM can degrade due to the interference of dynamic features of moving objects. This strong hypothesis limits the SLAM applications for service robot or driverless car in the real dynamic environment. In this paper, a dynamic object removal algorithm that combines object recognition and optical flow techniques is proposed in the visual SLAM framework for dynamic scenes. The experimental results show that our new method can detect moving object effectively and improve the SLAM performance compared to the state of the art methods.
Item Type: | Conference or Workshop Item (Paper) |
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Date Type: | Publication |
Status: | Published |
Schools: | Engineering |
Publisher: | IEEE |
ISBN: | 9781728163222 |
Date of First Compliant Deposit: | 20 November 2019 |
Date of Acceptance: | 1 November 2019 |
Last Modified: | 07 Dec 2022 14:14 |
URI: | https://orca.cardiff.ac.uk/id/eprint/126998 |
Citation Data
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