LIG-SLAM: A Lightweight Visual RGB-D SLAM for Indoor Dynamic Environments Leveraging Instance Segmentation and Geometric Information

Traditional visual Simultaneous Localization and Mapping (SLAM) systems achieve high accuracy in static environments. However, in indoor dynamic scenes with frequent object motions, the presence of moving objects severely violates the scene rigidity assumption, often leading to significant performan...

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Principais autores:	Xingyu Chen, Jiasai Wu, Junjie Hou, Xiao Liu, Junren Sun
Format:	Artigo
Jezik:	Inglês
Izdano:	MDPI AG 2026-05-01
Serija:	Sensors
Teme:	visual-SLAM deep learning geometric constraints target detection dynamic environment
Online dostop:	https://www.mdpi.com/1424-8220/26/10/2926
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