DMVO: A Multi-motion Visual Odometry for Dynamic Environments

Jinlong Zhao,Zhiyu Xiang,Lei Liu,Zhike Zhang

2021 13th International Conference on Wireless Communications and Signal Processing (WCSP)（2021）

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摘要

Most existing algorithms solve the visual odometry problem in dynamic scenes by removing dynamic objects. However, some scenarios such as autonomous driving, visual surveillance and virtual reality, require explicit motion information of the objects to help making decisions and understanding scenes. In this paper, we propose DMVO (Dymamic Multi-motion Visual Odometry), a robust and effective visua...

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关键词

Visual odometry,Dynamic environment,Stereo depth estimation,Graph optimization

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