PROB-SLAM: Real-time Visual SLAM Based on Probabilistic Graph Optimization. (arXiv:2209.07061v1 [cs.CV])

Traditional SLAM algorithms are typically based on artificial features, which
lack high-level information. By introducing semantic information, SLAM can own
higher stability and robustness rather than purely hand-crafted features.
However, the high uncertainty of semantic detection networks prohibits the
practical functionality of high-level information. To solve the uncertainty
property introduced by semantics, this paper proposed a novel probability map
based on the Gaussian distribution assumption. This map transforms the semantic
binary object detection into probability results, which help establish a …

arxiv graph optimization real-time slam visual slam