Realtime handheld monoSLAM in dynamic environments

dc.contributor.author	Perera, KNS
dc.contributor.author	Pasqual, AA
dc.date.accessioned	2013-10-21T02:12:48Z
dc.date.available	2013-10-21T02:12:48Z
dc.date.issued	2010
dc.identifier.uri	http://dl.lib.mrt.ac.lk/handle/123/8225
dc.description.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. Difficult problem of detecting moving points from it 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 refection is also performed Results are presented to verify and highlight the advantages of our approach over traditional SLAM.
dc.language	en
dc.title	Realtime handheld monoSLAM in dynamic environments
dc.type	Conference-Extended-Abstract
dc.identifier.year	2010
dc.identifier.conference	Research for Industry
dc.identifier.place	Faculty of Engineering, University of Moratuwa
dc.identifier.pgnos	pp. 182-186
dc.identifier.proceeding	16th Annual symposium on Research and Industry