2021
DOI: 10.3390/s21175889
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A Semantic SLAM System for Catadioptric Panoramic Cameras in Dynamic Environments

Abstract: When a traditional visual SLAM system works in a dynamic environment, it will be disturbed by dynamic objects and perform poorly. In order to overcome the interference of dynamic objects, we propose a semantic SLAM system for catadioptric panoramic cameras in dynamic environments. A real-time instance segmentation network is used to detect potential moving targets in the panoramic image. In order to find the real dynamic targets, potential moving targets are verified according to the sphere’s epipolar constrai… Show more

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Cited by 6 publications
(1 citation statement)
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“…The second class of visual-based SLAM systems, which is also referred to as key-frame-based methods, decouples the robot’s localization process from the mapping process and reformulates both problems, the localization, and mapping as optimization problems. Examples of this kind of approach are [ 18 , 19 , 20 , 21 , 22 , 23 , 24 ].…”
Section: Introductionmentioning
confidence: 99%
“…The second class of visual-based SLAM systems, which is also referred to as key-frame-based methods, decouples the robot’s localization process from the mapping process and reformulates both problems, the localization, and mapping as optimization problems. Examples of this kind of approach are [ 18 , 19 , 20 , 21 , 22 , 23 , 24 ].…”
Section: Introductionmentioning
confidence: 99%