10.1109/iros.2011.6094588

CD SLAM - continuous localization and mapping in a dynamic world

Abstract

Abstract — When performing large-scale perpetual localization and mapping one faces problems like memory consumption or repetitive and dynamic scene elements requiring robust data association. We propose a visual SLAM method which handles short- and long-term scene dynamics in large environments using a single camera only. Through visibility-dependent map filtering and efficient keyframe organization we reach a considerable performance gain only through incorporation of a slightly more complex map representation. Experiments on a large, mixed indoor/outdoor dataset over a time period of two weeks demonstrate the scalability and robustness of our approach. I

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