1results about How to "Solve afterimage problem" patented technology

This invention relates to a laser-based inertial real-time dynamic object removal SLAM system, specifically for robotic SLAM. Addressing the issue in existing technologies where dynamic objects are not removed before pose estimation, leading to inaccurate pose output, this application removes dynamic objects first, followed by feature matching for localization. This solves the problem of afterimages left by dynamic objects during mapping in laser SLAM systems, reducing the impact of dynamic objects on localization accuracy and improving the accuracy of localization and mapping. This application uses a vertical voxel height descriptor to describe the occupancy of dynamic objects and uses IMU pre-integration as the initial pose estimate to prioritize the removal of dynamic objects. Then, a weighted optimization strategy is employed to obtain the optimal pose estimate, mitigating the influence of dynamic objects and improving the accuracy of pose output.