自动化学报2026，Vol.52Issue(4)：666-692,27.DOI:10.16383/j.aas.c250365
视觉SLAM运动分割技术综述
A Review of Motion Segmentation Techniques for Visual SLAM
摘要
Abstract
As a critical foundational technology in the fields of mobile robots and autonomous driving,visual simul-taneous localization and mapping(V-SLAM)faces severe challenges in dynamic environments.Feature mismatches induced by dynamic objects frequently lead to localization drift,map distortion,and degradation of system robust-ness.Motion segmentation technology is an important means of enhancing V-SLAM performance,but accurate dis-crimination between static and dynamic elements in complex dynamic scenarios remains highly challenging.This paper systematically reviews the research progress on motion segmentation for V-SLAM.Taxonomically categoriz-ing existing methods into three primary research paradigms based on underlying environmental assumptions,we present the technical principles of each paradigm,along with the core strengths,inherent limitations,and applicabil-ity boundaries of representative strategies.Finally,future research directions are prospected.关键词
视觉SLAM/动态环境/运动分割/运动理解/多传感器融合/移动机器人Key words
visual SLAM/dynamic environments/motion segmentation/motion understanding/multi-sensor fusion/mobile robots引用本文复制引用
冯嘉琪,杨恺伦,林家丞,杨观赐..视觉SLAM运动分割技术综述[J].自动化学报,2026,52(4):666-692,27.基金项目
国家自然科学基金(62373116,62473139),贵州省科技计划项目(黔科合支撑[2023]一般 118),湖南省重点研发计划(2025QK3019)资助 Supported by National Natural Science Foundation of China(62373116,62473139),Guizhou Provincial Science and Techno-logy Project(QKHZC[2023]118),and Key R&D Program of Hunan Province(2025QK3019) （62373116,62473139）
