High Precision ORB-SLAM Dense Reconstruction Based on Depth Visual Odometer in Dynamic Environments

• Published in: 2023 9th International Conference on Virtual Reality (ICVR) pp. 41 - 48
• Main Authors: Chen, Yinbing, Yang, Huijun, Lu, Jiajun, Jiang, Boxuan
• Format: Conference Proceeding
• Language: English
• Published: IEEE 12.05.2023
• Subjects: dynamic environments; point cloud map; SLAM; visual odometer

Most SLAM systems are based on the assumption of a static environment, while most of the real scenes with dynamic will cause mismatching in the process of camera pose estimation and affect localization accuracy and system robustness. To improve the effect and accuracy of SLAM dense reconstruction in...