On combining visual SLAM and dense scene flow to increase the robustness of localization and mapping in dynamic environments

@article{Alcantarilla2012OnCV,
  title={On combining visual SLAM and dense scene flow to increase the robustness of localization and mapping in dynamic environments},
  author={Pablo Fern{\'a}ndez Alcantarilla and Jos{\'e} Javier Yebes Torres and Javier Almaz{\'a}n and Luis Miguel Bergasa},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={1290-1297}
}
In this paper, we introduce the concept of dense scene flow for visual SLAM applications. Traditional visual SLAM methods assume static features in the environment and that a dominant part of the scene changes only due to camera egomotion. These assumptions make traditional visual SLAM methods prone to failure in crowded real-world dynamic environments with many independently moving objects, such as the typical environments for the visually impaired. By means of a dense scene flow… CONTINUE READING

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