2023
DOI: 10.1109/access.2023.3342080
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YG-SLAM: Enhancing Visual SLAM in Dynamic Environments With YOLOv8 and Geometric Constraints

Guoming Chu,
Yan Peng,
Xuhong Luo
et al.

Abstract: In dynamic environments, achieving accurate and robust Visual SLAM (Simultaneous Localization and Mapping) remains a significant challenge, particularly for applications in robotic navigation and autonomous driving. This study introduces YG-SLAM, an innovative approach that integrates YOLOv8 and geometric constraints within the ORB-SLAM2 framework to adapt effectively to dynamic scenarios.YOLOv8 is employed for instance segmentation and dynamic object detection, enriching the semantic information while extract… Show more

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