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    • Semi-direct RGB-D slam algorithm for mobile robot In dynamic indoor environments 

      Tian, Rui; Zhang, Yunzhou; Gao, Chengqiang; Deng, Yi; Jiang, Hao (БНТУ, 2018)
      In order to solve the problem of accurate navigation of mobile robots in dynamic indoor environment, a semi-direct RGB-D visual SLAM (Simultaneous Localization and Mapping) algorithm based on motion detection algorithm is proposed. The algorithm is mainly divided into three parts: motion detection, camera positioning and dense map construction based on TSDF (Truncated Signature ...