A Stereo Visual SLAM System Using Object-Level Motion Estimation and Geometric Filtering Based on Cross Disparity
This paper presents OCD SLAM, a dynamic stereo visual SLAM framework that extends ORB-SLAM2 by jointly addressing dynamic objects and dynamic features in the scene. Usual visual SLAM systems operating in dynamic environments often fail in the presence of moving objects, due to the static-world assumption used in pose estimation and mapping. To address this predicament, we introduce a novel geometric approach based on the discrepancy between disparity and a newly proposed notion called ``cross disparity'', which exploits both temporal and stereo inconsistency to identify dynamic feature points. Complementary to this feature-level motion analysis, OCD SLAM integrates a 3D object detection m...
| Authors | Sujan Kumar Dhali, Bhaskar Dasgupta |
|---|---|
| Primary category | cs.RO |
| Published | 2 July 2026 |
| Last updated at source | 2 July 2026 |
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