Realtime handheld monoSLAM in dynamic environments

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.