DRG-SLAM: A Semantic RGB-D SLAM using Geometric Features for Indoor Dynamic Scene
Yanan Wang,Kun Xu,Yaobin Tian,Xilun Ding,Yanan Wang,Kun Xu,Yaobin Tian,Xilun Ding
Visual SLAM methods based on point features have achieved acceptable results in texture-rich static scenes, but they often suffer from a deficiency of texture and the existence of dynamic objects in real indoor scenes, which limits the application of these methods. In this paper, we have presented DRG-SLAM, which combines line features and plane features into point features to improve the robustne...
