Fig. 2
Overview of the OP-SLAM system
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Note: The framework of the OP-SLAM system is composed two core modules: camera pose estimation with static mapping, and object pose estimation with dynamic reconstruction. The system integrates these processes to generate a map. The subfigures in the diagram represent the data used:
(a) RGB image, (b) depth image, (c) segmentation mask, and (d) normal image.
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