Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Indoor Navigation Assistance for Visually Impaired People via Dynamic
  SLAM and Panoptic Segmentation with an RGB-D Sensor   Exploring an unfamiliar indoor environment and avoiding obstacles is
challenging for visually impaired people. Currently, several approaches achieve
the avoidance of static obstacles based on the mapping of indoor scenes. To
solve the issue of distinguishing dynamic obstacles, we propose an assistive
system with an RGB-D sensor to detect dynamic information of a scene. Once the
system captures an image, panoptic segmentation is performed to obtain the
prior dynamic object information. With sparse feature points extracted from
images and the depth information, poses of the user can be estimated. After the
ego-motion estimation, the dynamic object can be identified and tracked. Then,
poses and speed of tracked dynamic objects can be estimated, which are passed
to the users through acoustic feedback.

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The categories of this paper are: hep-ex
14
The categories of this paper are: math-ph
37
The categories of this paper are: supr-con
4
The categories of this paper are: cond-mat
20
The categories of this paper are: acc-phys
12
The categories of this paper are: nucl-th
2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
6
The categories of this paper are: astro-ph
7
The categories of this paper are: hep-th
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The categories of this paper are: adap-org
11
The categories of this paper are: hep-lat
5
The categories of this paper are: gr-qc
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg
25
The categories of this paper are: patt-sol