Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Mapping alkaloids with mass spectrometry imaging: Application of spatial distribution in medicinal plants and animal tissues.

Talanta·2026

Same author

Knowledge, acceptance, and willingness to pay for expanded carrier screening among obstetric patients in China: Implications for genetic counseling practice.

Journal of genetic counseling·2026

Same author

Strain-coordination strategy enabling long-cycling all-solid-state lithium-sulfur batteries.

Nature communications·2026

Same author

Daily activity patterns from wearable accelerometry predict physical frailty and concern about falling.

NPJ digital medicine·2026

Same author

The DNA-binding protein PfAP2-V regulates erythrocyte invasion and pathogenesis of the human malaria parasite Plasmodium falciparum.

Science China. Life sciences·2026

Same author

Biomimetic Ion Channel Design for Simultaneous Lithium-Ion Flux Regulation and Interfacial Stabilization in Lithium Metal Batteries.

Small (Weinheim an der Bergstrasse, Germany)·2026

Same journal

RETRACTED: Zhang et al. A Novel Framework for Reconstruction and Imaging of Target Scattering Centers via Wide-Angle Incidence in Radar Networks. <i>Sensors</i> 2025, <i>25</i>, 6802.

Sensors (Basel, Switzerland)·2026

Same journal

Enhancing Unsupervised Multi-Source Domain Adaptation for Person Re-Identification via Mixture of Experts and Graph-Based Relation.

Sensors (Basel, Switzerland)·2026

Same journal

Development of an Instrumented Glove for Palmar Pressure Assessment in Kayakers.

Sensors (Basel, Switzerland)·2026

Same journal

Development and Experimental Validation of an Autonomous IoT-Based Monitoring System for Real-Time Water Quality Assessment in the Amazon River.

Sensors (Basel, Switzerland)·2026

Same journal

Semi-Supervised Adversarial Learning Framework for Controller Area Network Bus Intrusion Detection.

Sensors (Basel, Switzerland)·2026

Same journal

Smart Optimization Method for Safety Signs in Innovative Manufacturing Environments Integrating Industrial Field IoT Sensors and Knowledge Graphs.

Sensors (Basel, Switzerland)·2026

See all related articles

Search research articles

Related Experiment Video

Updated: May 10, 2025

Author Spotlight: Deciphering Electrical Networks Behind Complex Brain Activities and Disorders

Author Spotlight: Deciphering Electrical Networks Behind Complex Brain Activities and Disorders

Published on: November 1, 2024

Monocular Initialization for Real-Time Feature-Based SLAM in Dynamic Environments with Multiple Frames.

Hexuan Dou¹, Bo Liu¹, Yinghao Jia¹

¹Space Control and Inertial Technology Research Center, School of Astronautics, Harbin Institute of Technology, Harbin 150001, China.

Sensors (Basel, Switzerland)

|April 26, 2025

Summary

This summary is machine-generated.

This study introduces a new method to improve simultaneous localization and mapping (SLAM) initialization in dynamic environments. It enhances pose and landmark estimation accuracy by identifying static features using spatial-temporal consistency.

Keywords:

computer vision localization mapping visual SLAM

More Related Videos

Author Spotlight: Insights into the Analysis of Human Interaction with 3D Virtual Objects

Author Spotlight: Insights into the Analysis of Human Interaction with 3D Virtual Objects

Published on: October 18, 2024

A Methodology for Capturing Joint Visual Attention Using Mobile Eye-Trackers

A Methodology for Capturing Joint Visual Attention Using Mobile Eye-Trackers

Published on: January 18, 2020

Related Experiment Videos

Last Updated: May 10, 2025

Author Spotlight: Deciphering Electrical Networks Behind Complex Brain Activities and Disorders

Author Spotlight: Deciphering Electrical Networks Behind Complex Brain Activities and Disorders

Published on: November 1, 2024

Author Spotlight: Insights into the Analysis of Human Interaction with 3D Virtual Objects

Author Spotlight: Insights into the Analysis of Human Interaction with 3D Virtual Objects

Published on: October 18, 2024

A Methodology for Capturing Joint Visual Attention Using Mobile Eye-Trackers

A Methodology for Capturing Joint Visual Attention Using Mobile Eye-Trackers

Published on: January 18, 2020

Area of Science:

Computer Vision
Robotics
Artificial Intelligence

Background:

Feature-based monocular SLAM initialization using RANSAC is difficult in dynamic environments.
Accurate initial pose and landmark estimation is crucial for robust SLAM performance.

Purpose of the Study:

To develop a universal and practical method for improving automatic initial pose and landmark estimation in real-time for monocular SLAM.
To address the challenges posed by dynamic environments in SLAM initialization.

Main Methods:

Image features are matched and tracked across frames.
ST-RANSAC (Spatio-Temporal RANSAC) is used to identify inliers based on spatial and temporal consistency, filtering out dynamic features.
Parallel two-view epipolar computations are performed to select the most reliable initialization.

Main Results:

The proposed method, integrated with ORB-SLAM3, significantly improves the accuracy of initial pose estimations.
Static landmarks are reliably constructed, enhancing initialization robustness.
Feature extraction scale and computational cost are substantially reduced.

Conclusions:

The developed method offers a practical solution for robust SLAM initialization in challenging dynamic environments.
It enhances the performance of feature-based monocular SLAM systems by improving initial pose and landmark accuracy while reducing computational load.