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Does Dynamic-Point Filtering Help When Texture Is Scarce? A Controlled Study of ORB-SLAM2 Front-Ends in Synthetic Indoor Scenes
Dynamic-point filters are routinely added to feature-based visual SLAM, and several recent systems argue that removing dynamic features can leave too few static features in low-texture regions. So far, these systems have been evaluated only on texture-rich benchmark sequences. We present a controlle
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