Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes

Research on a Density-Based Clustering Method for Eliminating Inter-Frame Feature Mismatches in Visual SLAM Under Dynamic Scenes

Visual SLAM relies on the motion information of static feature points in keyframes for both localization and map construction. Dynamic feature points interfere with inter-frame motion pose estimation, thereby affecting the accuracy of map construction and the overall robustness of the visual SLAM sy...

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Bibliographic Details
Main Authors: Zhiyong Yang, Kun Zhao, Shengze Yang, Yuhong Xiong, Changjin Zhang, Lielei Deng, Daode Zhang
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Sensors
Subjects:
VSLAM
DBSCAN
feature matching
improved RANSAC
Online Access:https://www.mdpi.com/1424-8220/25/3/622
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