To solve the problem that the traditional simultaneous localization and mapping (SLAM) algorithm will reduce the pose estimation accuracy and system robustness in dynamic environments, this paper proposes a visual-inertial SLAM system suitable for dynamic environments. This paper designs a plane segmentation network called scSE-PlaneNet, which is an encoder-decoder structure combined with an attention mechanism. scSE-PlaneNet is used to provide static plane features for subsequent SLAM systems. Then, the error calculated according to the principle of plane homography is used to accelerate the ...
