{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/deflowslam-self-supervised-scene-motion","title":"D$^3$FlowSLAM: Self-Supervised Dynamic SLAM with Flow Motion Decomposition and DINO Guidance","arxiv_id":"2207.08794","date":"2022-07-18","proceeding":null,"authors":["Xingyuan Yu","Weicai Ye","Xiyue Guo","Yuhang Ming","Jinyu Li","Hujun Bao","Zhaopeng Cui","Guofeng Zhang"],"abstract":"In this paper, we introduce a self-supervised deep SLAM method that robustly operates in dynamic scenes while accurately identifying dynamic components. Our method leverages a dual-flow representation for static flow and dynamic flow, facilitating effective scene decomposition in dynamic environments. We propose a dynamic update module based on this representation and develop a dense SLAM system that excels in dynamic scenarios. In addition, we design a self-supervised training scheme using DINO as a prior, enabling label-free training. Our method achieves superior accuracy compared to other self-supervised methods. It also matches or even surpasses the performance of existing supervised methods in some cases. All code and data will be made publicly available upon acceptance.","url_abs":"https://arxiv.org/abs/2207.08794v4","url_pdf":"https://arxiv.org/pdf/2207.08794v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"deflowslam-self-supervised-scene-motion","repo_url":"https://github.com/zju3dv/DeFlowSLAM","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"}],"methods":[{"method_slug":"droid-slam","method_name":"DROID-SLAM"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2207.08794","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}