GCORB SLAM: a VSLAM system graph-cut dynamic point removal in complex environments

GCORB SLAM: a VSLAM system graph-cut dynamic point removal in complex environments | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article GCORB SLAM: a VSLAM system graph-cut dynamic point removal in complex environments Chao Zheng, Huyin Hu, Qiankun Tang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6811719/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Simultaneous Localization and Mapping (SLAM) is essential for unmanned devices to navigate complex environments accurately. Traditional methods falter in dynamic settings due to reliance on geometric features. This study proposes addressing dynamic point culling as a joint probabilistic inference problem, enhanced with Gcransac and graph optimization to refine data sampling. By integrating polar coordinate constraints with geometric error for dynamic point rejection, and upgrading to joint optimization with multimodal information, this approach facilitates dynamic SLAM sensing. Consequently, it improves the system's robustness and accuracy over traditional techniques, making significant strides in reliable navigation for unmanned devices in challenging environments. Physical sciences/Engineering/Mechanical engineering Physical sciences/Mathematics and computing/Computer science SLAM dynamic environment Computer vision Dynamic point rejectionvision Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6811719","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":469693321,"identity":"d9539e75-1d87-4eb9-9d59-97a1bb3e1f24","order_by":0,"name":"Chao Zheng","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA30lEQVRIiWNgGAWjYLCCB2wMDAYgxgcDGzvitCRAtTDOKEhLJk0LM8+HQ4wNhFTzzz578EFCGYO9OXvv4dc2BgeYGdgPH92AT4vEubxkg4RzDMyWPefSrHMM7vAx8KSl3cBrzRkeM4nENgY2gxs5ZsY5Bs+YGSR4zPBqkYdq4TG4/8bM2MLgMGMDIS0GUC0SBjd4jB8zEKPF8AyPMcgvBgZncswYewzSktkI+UXuDI/hgw/AEDM4fsb4w48/Nnb87IeP4fc+BPwHEWwSYJII5XDA/IEU1aNgFIyCUTByAAABmUT+c+5awgAAAABJRU5ErkJggg==","orcid":"","institution":"Henan Academy of Sciences","correspondingAuthor":true,"prefix":"","firstName":"Chao","middleName":"","lastName":"Zheng","suffix":""},{"id":469693322,"identity":"e5072192-9449-4379-8ef5-14af70af952d","order_by":1,"name":"Huyin Hu","email":"","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Huyin","middleName":"","lastName":"Hu","suffix":""},{"id":469693323,"identity":"68148d7d-5fe2-41c3-a172-e18993dc370c","order_by":2,"name":"Qiankun Tang","email":"","orcid":"","institution":"Henan Normal University","correspondingAuthor":false,"prefix":"","firstName":"Qiankun","middleName":"","lastName":"Tang","suffix":""}],"badges":[],"createdAt":"2025-06-03 13:23:13","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6811719/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6811719/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":104935614,"identity":"5bd807d4-2973-4eaa-8995-390d3bd0c805","added_by":"auto","created_at":"2026-03-19 00:55:11","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":729560,"visible":true,"origin":"","legend":"","description":"","filename":"GCORBSLAM.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6811719/v1_covered_ecbb7af1-b077-4680-b757-33333a62d309.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"GCORB SLAM: a VSLAM system graph-cut dynamic point removal in complex environments","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"SLAM, dynamic environment, Computer vision, Dynamic point rejectionvision","lastPublishedDoi":"10.21203/rs.3.rs-6811719/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6811719/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eSimultaneous Localization and Mapping (SLAM) is essential for unmanned devices to navigate complex environments accurately. 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