Visual-Inertial Multi-Instance Dynamic SLAM with Object-level Relocalisation
Yifei Ren,Binbin Xu,Christopher L. Choi,Stefan Leutenegger,Yifei Ren,Binbin Xu,Christopher L. Choi,Stefan Leutenegger
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D reconstruction object-level map of the environment. Our system can robustly track and reconstruct the geometries of arbitrary objects, their semantics and motion by incr...
