AirDOS: Dynamic SLAM benefits from Articulated Objects
Yuheng Qiu,Chen Wang,Wenshan Wang,Mina Henein,Sebastian Scherer,Yuheng Qiu,Chen Wang,Wenshan Wang,Mina Henein,Sebastian Scherer
Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper, we show that feature-based visual SLAM systems can also benefit from the presence of dynamic articulated objects by taking advantage of two observations: (1) The...
