A Semantic Topology Graph to Detect Re-Localization and Loop Closure of the Visual Simultaneous Localization and Mapping System in a Dynamic Environment

Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to dynamic real-world environments. The correctness o...

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發表在:	Sensors
Main Authors:	Yang Wang, Yi Zhang, Lihe Hu, Wei Wang, Gengyu Ge, Shuyi Tan
格式:	Article
語言:	英语
出版:	MDPI AG 2023-10-01
主題:	semantic topology graph Visual SLAM ORB-SLAM2 dynamic environment mobile robots
在線閱讀:	https://www.mdpi.com/1424-8220/23/20/8445