Dynamic Object Removal for Effective Slam

• URL: http://arxiv.org/abs/2303.10923v1
• Date: Mon, 20 Mar 2023 07:47:36 GMT
• Title: Dynamic Object Removal for Effective Slam
• Authors: Phani Krishna Uppala, Abhishek Bamotra, Raj Kolamuri
• Abstract summary: The paper proposes a two-step process to address this challenge, which involves finding the dynamic objects in the scene using a Flow-based method and then using a deep Video inpainting algorithm to remove them. The study aims to test the validity of this approach by comparing it with baseline results using two state-of-the-art SLAM algorithms, ORB-SLAM2 and LSD, and understanding the impact of dynamic objects and the corresponding trade-offs.
• Score: 1.8907108368038215
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This research paper focuses on the problem of dynamic objects and their impact on effective motion planning and localization. The paper proposes a two-step process to address this challenge, which involves finding the dynamic objects in the scene using a Flow-based method and then using a deep Video inpainting algorithm to remove them. The study aims to test the validity of this approach by comparing it with baseline results using two state-of-the-art SLAM algorithms, ORB-SLAM2 and LSD, and understanding the impact of dynamic objects and the corresponding trade-offs. The proposed approach does not require any significant modifications to the baseline SLAM algorithms, and therefore, the computational effort required remains unchanged. The paper presents a detailed analysis of the results obtained and concludes that the proposed method is effective in removing dynamic objects from the scene, leading to improved SLAM performance.

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