# Dynamic SLAM: The Need For Speed

Source: [Dynamic SLAM: The Need For Speed](<https://www.sota2.com/research/paper/68fa67171e209131cea14129>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-27T06:01:46.445Z

Authors: Mina Henein, Jun Zhang, Robert Mahony, Viorela Ila

Published: 2020-02-20T06:39:39.000Z

## Abstract

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and estimate their velocity in real-time. Most existing SLAM based approaches rely on a database of 3D models of objects or impose significant motion constraints. In this paper, we propose a new feature-based, model-free, object-aware dynamic SLAM algorithm that exploits semantic segmentation to allow estimation of motion of rigid objects in a scene without the need to estimate the object poses or have any prior knowledge of their 3D models. The algorithm generates a map of dynamic and static structure and has the ability to extract velocities of rigid moving objects in the scene. Its performance is demonstrated on simulated, synthetic and real-world datasets.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2002.08584>)

[PDF](<https://arxiv.org/pdf/2002.08584.pdf>)