If some objects are moved or new objects are added after the robot creates its map, how is vSLAM affected?
VSLAM can handle both transient and permanent changes to the environment. Small changes to the environment will have no effect to vSLAM because of the powerful visual front-end which allows a scene to be recognized even if a significant portion of it has changed. A big change to the environment will be dealt with in one of two ways. First, if a landmark is not recognized, vSLAM will create a new landmark replacing the old one. If the environment has been modified in such a way that a scene virtually has .moved. (e.g., the furniture that used to occupy the living room has been placed in the same configuration in the bedroom), then the corresponding landmark will move in the vSLAM map from the living room to the bedroom. Similarly, the occupancy grid map, which provides a map of obstacles, is constantly being updated with new information, and a moved object/obstacle will be reflected by an updated occupancy grid map.
