Stereo camera visual SLAM with hierarchical masking and motion-state classification at outdoor construction sites containing large dynamic objects

Runqiu Bao, Ren Komatsu, Renato Miyagusuku, Masaki Chino, Atsushi Yamashita, Hajime Asama

Abstract: At modern construction sites, utilizing GNSS (Global Navigation Satellite System) to measure the real-time location and orientation (i.e. pose) of construction machines and navigate them is very co...