Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments

Abstract

2:16while a slower process reasons over long-term changes in the environment using a factor graph formulation.We provide an efficient implementation of the proposed spatio-temporal perception approach, that we call Khronos, and show that it unifies exiting interpretations of short-term and long-term dynamics and is able to construct a dense spatio-temporal map in real-time.We provide simulated and real results, showing that the spatio-temporal maps built by Khronos are an accurate reflection of a 3D scene over time and that Khronos outperforms baselines across multiple metrics.We further validate our approach on two heterogeneous robots in challenging, largescale real-world environments.