MOTSLAM: MOT-assisted monocular dynamic SLAM using single-view depth estimation

Hanwei Zhang,Hideaki Uchiyama,Shintaro Ono,Hiroshi Kawasaki,Hanwei Zhang,Hideaki Uchiyama,Shintaro Ono,Hiroshi Kawasaki

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of under-standing dynamic surroundings in various scenarios including autonomous driving, augmented and virtual reality. However, performing dynamic SLAM solely with monocular images remain...