IRAF-SLAM: An Illumination-Robust and Adaptive Feature-Culling Front-End for Visual SLAM in Challenging Environments

Thanh Nguyen Canh, Bao Nguyen Quoc, Haolan Zhang +3

Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying…