DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM

Understand

The assumption of scene rigidity is common in visual SLAM algorithms.

• However, it limits their applicability in populated real-world environments.
• Furthermore, most scenarios including autonomous driving, multi-robot collaboration and augmented/virtual reality, require explicit motion information of the surroundings to help with decision making and scene understanding.
• We present in this paper DynaSLAM II, a visual SLAM system for stereo and RGB-D configurations that tightly integrates the multi-object tracking capability.