Preprint Open access
Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM
Stereo visual SLAM systems built on local descriptors suffer from semantic ambiguity, instance-level confusion, and independently moving objects, each corrupting data association and accumulating as trajectory drift. Prevailing semantic and dynamic SLAM methods address this through binary feature rejection, sacrificing …