RGB-D Visual SLAM Based on Yolov4-Tiny in Indoor Dynamic Environment

Author: Chang

Year: 2021

Notes:

VSLAM based on YOLOv4 TINY + dynamic feature elimination
epipolar geometry + LK optical flow
Only comment performance of the tracking thread ??
Masl-RCNN not applicable to real time => YoloTinyv4
DS SLAM = ORB SLAM2 with semantic information

Dynamic pixels filtering:

dynamic object determined with semantic information
filtering dynamic also with distance wrt the epipolar line
and with optical flow (if the optical flow of a feature point is superior to the average optical by 2 sigma)

Experiments:

improve orbSLAM 2 with their dynamic object removal
many object detection failure in blurred images