RWT-SLAM: Robust Visual SLAM for Highly Weak-textured Environments. (arXiv:2207.03539v1 [cs.CV])

As a fundamental task for intelligent robots, visual SLAM has made great
progress over the past decades. However, robust SLAM under highly weak-textured
environments still remains very challenging. In this paper, we propose a novel
visual SLAM system named RWT-SLAM to tackle this problem. We modify LoFTR
network which is able to produce dense point matching under low-textured scenes
to generate feature descriptors. To integrate the new features into the popular
ORB-SLAM framework, we develop feature masks to filter out …

arxiv cv slam visual slam