20.500.12556/RUL-191283 Nadgradnja ORB-SLAM 3 z detekcijo statičnih objektov z uporabo modela YOLO An upgrade of ORB-SLAM3 with YOLOv8-seg We present an extension of ORB-SLAM3 that integrates object segmentation from a YOLOv8-seg model to enrich the map with semantic information. Segmentation is run in a separate process and the masks are passed to the SLAM system, where they are combined with depth data. Large background classes such as walls and floors are visualized as colored meshes, while static semantic objects like chairs and tables are also included in the optimization. For these objects, we add extra constraints that link their 3-D positions with camera poses and nearby points, so they become stable landmarks in the map. The result is a SLAM system that keeps the accuracy of the original ORBSLAM3 while providing a richer map with useful semantic objects. We also discuss current limits, such as occasional segmentation errors, and outline possible improvements with faster models and sensor fusion. lokalizacija kartiranje kvadrokopter localisation mapping quadcopter true false true Slovenski jezik Angleški jezik Neznano 2026-11-13 13:28:58 2026-11-13 13:29:00 2026-11-14 04:31:06 0000-00-00 00:00:00 2025 0 0 Str. 156-160 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:629.014.9 2591-0442 305266691 250462467 RAZ_Sovdat_Erik_2025.pdf RAZ_Sovdat_Erik_2025.pdf 1 70F54036FD138A3560FF57952389BC83 a9a62d33eb42616ac5c02beee2c0d5961f68606e6a3c8c2eded5e72f2005df75 b0d96cfd-df5d-11f1-aea2-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=253336 https://erk.fe.uni-lj.si/2025/papers/sovdat(nadgradnja_orb_slam).pdf 0 c8570f83-df5d-11f1-aea2-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=253337 Fakulteta za elektrotehniko 0 0 0