Shuangjiang Li

DGO-VINS: A Visual-Inertial SLAM for Dynamic Environments With Geometric Constraint and Adaptive State Optimization

Traditional SLAM performs well in static environments, but experiences degeneration of localization accuracy and stability in dynamic settings. To enhance performance in dynamic environments, this letter presents DGO-VINS, a real-time dynamic visual-inertial SLAM system based on geometric constraint