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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Preeti Chatterjee

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Preprint Sep 2026

Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM

Stereo visual SLAM systems built on local descriptors suffer from semantic ambiguity, instance-level confusion, and independently moving objects, each corrupting data association and accumulating as trajectory drift. Prevailing semantic and dynamic SLAM methods address this through binary feature rejection, sacrificing...

Preeti Chatterjee, Jin-Huan Lu, Jin Sun et al. · 0 citations

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