2024
DOI: 10.1088/1361-6501/ad5de5
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OMS-SLAM: dynamic scene visual SLAM based on object detection with multiple geometric feature constraints and statistical threshold segmentation

Jialiang Tang,
Zhengyong Feng,
Peng Liao
et al.

Abstract: Simultaneous localization and mapping (SLAM) technology is crucial to robot navigation. Despite the good performance of traditional SLAM algorithms in static environments, dynamic objects typically exist in realistic operating environments. These objects can lead to misassociated features, which in turn considerably impact the system’s localization accuracy and robustness. To better address this challenge, we have proposed the OMS-SLAM. In OMS-SLAM, we adopted the YOLOv8 target detection network to extract obj… Show more

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