Stereo camera visual SLAM with hierarchical masking and motion-state classification at outdoor construction sites containing large dynamic objects.
Runqiu BaoRen KomatsuRenato MiyagusukuMasaki ChinoAtsushi YamashitaHajime AsamaPublished in: Adv. Robotics (2021)
Keyphrases
- stereo camera
- visual slam
- ego motion
- camera motion
- multibody
- point cloud
- stereo vision
- motion analysis
- motion segmentation
- monocular camera
- gesture recognition
- stereo images
- state space
- bundle adjustment
- vision system
- motion estimation
- autonomous navigation
- real time
- background subtraction
- target object
- optical flow
- feature vectors