ROBUST VISUAL-INERTIAL ODOMETRY IN DYNAMIC ENVIRONMENTS USING SEMANTIC SEGMENTATION FOR FEATURE SELECTION
Camera based navigation in dynamic environments with high content of moving objects is challenging. Keypoint-based localization methods need to reliably reject features that do not belong to the static background. Here, traditional statistical methods for outlier rejection quickly reach their limits...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2020-08-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-2-2020/435/2020/isprs-annals-V-2-2020-435-2020.pdf |