SOLO-SLAM: A Parallel Semantic SLAM Algorithm for Dynamic Scenes

. 2022 Sep 15;22(18):6977. doi: 10.3390/s22186977

Algorithm 2 Update Nearst Point of Map Point

\begin{array}{l} Input : M^{in_view} M^{p r o j e c t} R^{s e m} \\ Output : M^{in_view} \\ For k f^{o p t i m i z e} i n K F^{o p t i m i z e} do : \\ {For m}^{in_view} i n M^{in_view} do : \\ m^{p r o j e c t} \leftarrow G e t P r o j e c t i o n P o i n t s (M^{p r o j e c t}); \\ m^{sem} \leftarrow G e t S e m a n t i c P r o p e r t i e s (m^{in_view}); \\ / / Iterate over the semantic region of the current frame \\ / / to get the nearest point \\ {For r}^{sem} i n R^{sem} do : \\ s e m_t e m p \leftarrow G e t R e g i o n S e m a n t i c P r o p e r t i e s (r^{sem}); \\ {If (m}^{sem} = = s e m_t e m p) then \\ p^{t e m p} = G e t N e a r s t P o int o f C o n t o u r s (m^{p r o j e c t}); \\ p^{n e a r s t} \leftarrow U p d a t e N e a r s t P o i n t (m^{in_view} - > p^{n e a r s t}, p^{temp}); \\ End If \\ End For \\ End For \\ SemanticOptimizationViaG 2 O (M^{in_view}, M^{p r o j e c t}); \\ End For \end{array}