YOD-SLAM: An Indoor Dynamic VSLAM Algorithm Based on the YOLOv8 Model and Depth Information
1
Citation
31
Reference
10
Related Paper
Citation Trend
Abstract:
Aiming at the problems of low positioning accuracy and poor mapping effect of the visual SLAM system caused by the poor quality of the dynamic object mask in an indoor dynamic environment, an indoor dynamic VSLAM algorithm based on the YOLOv8 model and depth information (YOD-SLAM) is proposed based on the ORB-SLAM3 system. Firstly, the YOLOv8 model obtains the original mask of a priori dynamic objects, and the depth information is used to modify the mask. Secondly, the mask’s depth information and center point are used to a priori determine if the dynamic object has missed detection and if the mask needs to be redrawn. Then, the mask edge distance and depth information are used to judge the movement state of non-prior dynamic objects. Finally, all dynamic object information is removed, and the remaining static objects are used for posing estimation and dense point cloud mapping. The accuracy of camera positioning and the construction effect of dense point cloud maps are verified using the TUM RGB-D dataset and real environment data. The results show that YOD-SLAM has a higher positioning accuracy and dense point cloud mapping effect in dynamic scenes than other advanced SLAM systems such as DS-SLAM and DynaSLAM.In the history of epistemology, discussions of the a priori have been bound up with discussions of necessity and analyticity, often in confusing ways. Disentangling these confusions is an essential step in the study of the a priori. This will be the aim of my introductory remarks. The goal of the remainder of the paper will then be to try to develop a unified account of the a priori, dealing with the notions of intuition and a priori evidence, the question of why intuitions quality as evidence, and the question of how they can be a reliable guide to the truth about a priori matters.
Intuition
Cite
Citations (2)
Empirical evidence
Empirical Research
Cite
Citations (0)
In this paper we prove a priori and a posteriori error estimates for a multiscale numerical method for computing equilibria of multilattices under an external force. The error estimates are derived in a $W^{1,\infty}$ norm in one space dimension. One of the features of our analysis is that we establish an equivalent way of formulating the coarse-grained problem which greatly simplifies derivation of the error bounds (both, a priori and a posteriori). We illustrate our error estimates with numerical experiments.
Error Analysis
A priori estimate
Cite
Citations (0)
Abstract This article addresses the question of whether a priori knowledge exists. Since one cannot determine whether such knowledge exists without knowing what such knowledge is, it begins by providing an analysis of the concept a priori knowledge. It utilizes that analysis to show that the traditional arguments, both for and against, the a priori are not convincing. It concludes by offering an alternative strategy for defending the existence of a priori knowledge. Although the questions about the relationship between the a priori and the nonepistemic concepts of necessity and analyticity are not the primary targets of this article, they are addressed here as they are relevant to analyzing the concept of a priori knowledge or to determining whether such knowledge exists.
Existential quantification
Cite
Citations (20)
Basically,a priori knowledge is independent of experience.The distinguishing features of a priori knowledge are the absence of perceptual experience as a ground or reason to believe and the presence of such non-perceptual reasons to believe as intuition,reasoning,reflection,etc.Based on the discussion of Kant's concept of the a priori knowledge by a number of philosophers nowadays,My aim in this thesis is to respond to Kant's view of a priori knowledge and discuss its characterizations in positive way and negative way.Besides,the property of unrevisability is also involved in it.Arguing a priori justification as the nature of a priori knowledge,this thesis is trying to give the a priori contemporary characters.The conception of a priori justification gives us a better appreciation of the respective merits of the a priori and experience,as well as a better understanding of how experience comports,at least in principle,with the a priori.
Intuition
Cite
Citations (0)
I argue that you can have a priori knowledge of propositions that neither are nor appear necessarily true. You can know a priori contingent propositions that you recognize as such. This overturns a standard view in contemporary epistemology and the traditional view of the a priori, which restrict a priori knowledge to necessary truths, or at least to truths that appear necessary
Cite
Citations (2)
Abstract Prior to the eighteenth century, the pair of terms ‘a priori’/’a posteriori’ (Latin for ‘from what is earlier’/’for what comes after’) was used to distinguish between modes of reasoning: ‘The mind can discover and understand the truth … by demonstration. When the mind reasons from causes to effects, the demonstration is called a priori; when from effects to causes, the demonstration is called a posteriori’ (Arnauld 1662). Only later were these non identical terminological-twins used to refer to types of knowledge: knowledge independent of experience is ‘a priori’, that which is grounded in experience is ‘a posteriori’ (Kant 1781).
Cite
Citations (0)
I argue that you can have a priori knowledge of propositions that neither are nor appear necessarily true. You can know a priori contingent propositions that you recognize as such. This overturns a standard view in contemporary epistemology and the traditional view of the a priori, which restrict a priori knowledge to necessary truths, or at least to truths that appear necessary.
Cite
Citations (36)
Intuition
Cite
Citations (0)