Research Article
OFM-SLAM: A Visual Semantic SLAM for Dynamic Indoor Environments
Algorithm 1
Dynamic points’ detection algorithm.
| Input: Last frame, ; Last frame’s keypoints, ; Current frame, ; | | Output: Dynamic points, | (1) | Current frame’s keypoints P2 = CalcopticalFlowPyrLK | (2) | Dynamic points’ detection | (3) | = FindFundamentalMatrix | (4) | for each matched points’ pair , in , | (5) | = CalcEpipolarLine | (6) | = Distance | (7) | if then | (8) | add in | (9) | end if | (10) | end for |
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