Sujan Kumar Dhali

A Stereo Visual SLAM System Using Object-Level Motion Estimation and Geometric Filtering Based on Cross Disparity

Sujan Kumar Dhali, Bhaskar Dasgupta

This paper presents OCD SLAM, a dynamic stereo visual SLAM framework that extends ORB-SLAM2 by jointly addressing dynamic objects and dynamic features in the scene. Usual visual SLAM systems operating in dynamic environments often fail in the presence of moving objects, due to th…Read more