CD SLAM - continuous localization and mapping in a dynamic world


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

Similar works

This paper was published in CiteSeerX.

Having an issue?

Is data on this page outdated, violates copyrights or anything else? Report the problem now and we will take corresponding actions after reviewing your request.