DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments
Shihao Shen,Yilin Cai,Wenshan Wang,Sebastian Scherer,Shihao Shen,Yilin Cai,Wenshan Wang,Sebastian Scherer
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic segmentation is largely used to discard dynamic associations before estimating camera motions but at the cost of discarding static features and is hard to scale up to uns...
