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SDMFusion: Cámaras monocular, estéreo y RGBD para SLAM denso dinámico consciente de la escala

Nuo Cen¹, Yi Xu¹, Tuck-Whye Wong^1,2

¹School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, 310027, China.

Scientific reports

|February 24, 2026

Resumen

SDMFusion ofrece un mapeo denso robusto y en tiempo real para robots, incluso en entornos dinámicos. Este marco consciente de la escala mejora la navegación autónoma al mapear con precisión las áreas estáticas y rechazar objetos dinámicos.

Palabras clave:

SLAM denso Escenas dinámicas Segmentación de instancias Estimación de profundidad monocular Consciente de la escala

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