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Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes

Visual SLAM relies on the motion information of static feature points in keyframes for both localization and map construction. Dynamic feature points interfere with inter-frame motion pose estimation, thereby affecting the accuracy of map construction and the overall robustness of the visual SLAM sy...

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Wedi'i Gadw mewn:
Prif Awduron: Zhiyong Yang, Kun Zhao, Shengze Yang, Yuhong Xiong, Changjin Zhang, Lielei Deng, Daode Zhang
Fformat: Artigo
Iaith:Inglês
Cyhoeddwyd: MDPI AG 2025-01-01
Cyfres:Sensors
Pynciau:
VSLAM
DBSCAN
feature matching
improved RANSAC
Mynediad Ar-lein:https://www.mdpi.com/1424-8220/25/3/622
Tagiau: Ychwanegu Tag
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