DCSLAM: A dynamically constrained real-time slam

We propose a new real-time CSLAM algorithm (Constrained Simultaneous Localization And Mapping), named DCSLAM (dynamically constrained SLAM), designed to dynamically adapt each optimization to the variable number of parameters families and heterogeneous constraints. An automatic method is used to generate, from an exhaustive list of constraints, a dedicated optimization algorithm. This is, to our knowledge, the only implementation that combines flexibility and performance. The proposed experiments show the effectiveness of our approach in terms of accuracy and execution time compared to the state of the art on several public benchmarks of varying complexity. An augmented reality application mixing heterogeneous objects and constraints is also available.