This article states an ORB-SLAM-based system with an efficient and real-time segmentation model. This implementation provides a better mapping of the surroundings and improves the robustness of the slam system.

Махмуд Ж. (науч. рук. Колюбин С.А.) Real-Time Semantic Segmentation Implementation for the ORB-SLAM System // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2021]. URL: https://kmu.itmo.ru/digests/article/5847