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arXiv Computer Vision By Preeti Chatterjee, Jin Lu, Jin Sun, Suchendra M. Bhandarkar

Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM

Read the original on arXiv Computer Vision →

Know-Your-Scene (KYS)-SLAM extends ORB‑SLAM3 by replacing binary feature rejection with continuous correspondence modulation based on semantic, panoptic, and motion priors. Each keypoint is augmented with hierarchical compatibility scores that down‑weight features on independently moving objects while preserving static structure, using a training‑free depth‑aware ego‑motion model and self‑calibrating thresholds. Across 21 stereo sequences, KYS‑SLAM achieves a 17.4% ATE RMSE reduction on outdoor KITTI, 27.7% on indoor EuRoC, and significant improvements on dynamic and synthetic datasets without per‑sequence tuning.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Computer Vision.

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