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Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Stereo visual SLAM systems built on local descriptors suffer from semantic ambiguity, instance-level confusion, and independently moving objects, each corrupting data association and accumulating as trajectory drift. Prevailing semantic and dynamic SLAM methods address this through binary feature rejection, sacrificing correspondence density for outlier suppression. We contend that contextual implausibility is better expressed as a graded quantity than an exclusion criterion. We present Know-Your-Scene (KYS)-SLAM, a modular extension of ORB-SLAM3 that supplants feature rejection with continuou

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-09-23T08:07:47.000Z

First collected: 2026-09-24T01:22:21.678Z. This is not the publication date.