To address this problem, in this paper, a new RGB-D dynamic SLAM method, PLD-SLAM, which is based on point and line features for dynamic scenes, is proposed. First, to avoid under-over segmentation caused by deep learning, PLD-SLAM combines deep learning for semantic information segmentation...
The performance of PLD-VINS is validated on public OpenLORIS-Scene datasets and real-world experiments. Comparing with other state-of-the-art algorithms, such as ORB-SLAM2, PL-VINS, VINS-RGBD, and so on, the proposed PLD-VINS is more exact, robust and reliable. (C) 2021 Elsevier Masson...
This paper proposes a visual-inertial simultaneous localization and mapping (SLAM) system with point features, line features and depth information provided by RGBD camera, which is named as PLD-VINS. The main advantage of PLD-VINS is that it can improve the accuracy of state estimation and ...