Avoiding moving outliers in visual SLAM by tracking moving objects.
Somkiat WangsiripitakDavid William MurrayPublished in: ICRA (2009)
Keyphrases
- visual slam
- moving objects
- multiple moving objects
- camera motion
- monocular camera
- motion segmentation
- moving camera
- real time
- feature tracking
- object tracking
- image sequences
- multibody
- continuously moving
- optical flow
- video surveillance
- dynamic environments
- background subtraction
- video sequences
- spatio temporal
- dynamic scenes
- video streams
- missing data
- bundle adjustment
- structure from motion
- inter frame
- simultaneous localization and mapping
- detection algorithm
- motion parameters
- d scene
- ego motion
- video camera
- geometric constraints
- video data
- flow field
- field of view