Lightweight SLAM with a hierarchical dynamic-object discrimination mechanism

Purpose This study aims to address the degradation of localisation and mapping accuracy in visual simultaneous location and mapping (SLAM) caused by moving objects in dynamic environments. This study proposes a lightweight SLAM method based on a hierarchical dynamic-object discrimination mechanism. Design/methodology/approach A three-layer pipeline is established: a pruned and quantised YOLOv8n-seg performs real-time instance segmentation to remove features of inherently dynamic categories; dens