Lab Meeting April 20, 2009 (Casey): Avoiding moving outliers in visual SLAM by tracking moving objects

Title: Avoiding moving outliers in visual SLAM by tracking moving objects
Authors: Somkiat Wangsiripitak and David W Murray

In: ICRA 2009

Abstract:

To work at video rate, the maps that monocular SLAM builds are bound to be sparse, making them sensitive to the erroneous inclusion of moving points and to the deletion of valid points through temporary occlusion. This paper describes the parallel implementation of monoSLAM with a 3D object tracker, allowing reasoning about moving objects and occlusion. The SLAMprocess provides the object tracker with information to register objects to the map’s frame, and the object tracker allows the marking of features, either those on objects, or those created by their occluding edges, or those occluded by objects. Experiments are presented to verify the recovered geometry and to indicate the impact on camera pose in monoSLAM of including and avoiding moving features.

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