Towards realtime handheld MonoSLAM in dynamic environments
Pages 313 - 324
Abstract
Traditional monoSLAM assumes stationary landmarks making it unable to cope up with dynamic environments where moving objects are present in the scene. This paper presents the parallel implementation of monoSLAM with a set of independent EKF trackers where stationary features and moving features are tracked separately. The difficult problem of detecting moving points from a moving camera is addressed by the epipolar constraint computed by using the measurement information already available with the monoSLAM algorithm. While doing so SLAM measurement outlier rejection is also performed. Results are presented to verify and highlight the advantages of our approach over traditional SLAM.
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- Towards realtime handheld MonoSLAM in dynamic environments
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Published In
September 2011
782 pages
ISBN:9783642240270
Sponsors
- NASA: National Aeronatics and Space Administration
- DELPHI TOYOTA: DELPHI TOYOTA
- MITSUBISHI: MITSUBISHI
- CVL: Computer Vision Labaratory
- DRI: Desert Research Institute
Publisher
Springer-Verlag
Berlin, Heidelberg
Publication History
Published: 26 September 2011
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