AirDOS: Dynamic SLAM benefits from Articulated Objects

@article{Qiu2022AirDOSDS,
  title={AirDOS: Dynamic SLAM benefits from Articulated Objects},
  author={Yuheng Qiu and Chen Wang and Wenshan Wang and Mina Henein and Sebastian A. Scherer},
  journal={2022 International Conference on Robotics and Automation (ICRA)},
  year={2022},
  pages={8047-8053}
}
  • Yuheng Qiu, Chen Wang, S. Scherer
  • Published 21 September 2021
  • Computer Science
  • 2022 International Conference on Robotics and Automation (ICRA)
Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper, we show that feature-based visual SLAM systems can also benefit from the presence of dynamic articulated objects by taking advantage of two observations: (1) The 3D structure of each rigid part of articulated object remains consistent over time; (2) The points… 

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