About Dotmask work

Posted by jasonlee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-Dotmask-work-tp8102.html

Sorry to bother you . After I read "Dynamic Object Tracking and Masking for Visual SLAM "
https://arxiv.org/pdf/2008.00072.pdf , I have some question that I want to ask.

The paper used  depth image processing to make a mask on the map .
I want to ask why it turn some specific pixels with depth value to zero , then it won't show feature points on image that showed on RTAB-Map left-up screen .  

What do the points actually mean on image that showed on RTAB-Map left-up screen ?  Aren't they feature points that extract from RGB image ?

As I knew , the visual odometry extract feature points  on RGB image first , then use the points to get depth value with depth image .  Sorry , I am the newer about this part .

Thanks for your reading .
Have a nice day.