On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Tracking and data association
Dynamic map building for an autonomous mobile robot
International Journal of Robotics Research
Active vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Localisation and Mapping with Wearable Active Vision
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
DenseSLAM: Simultaneous Localization and Dense Mapping
International Journal of Robotics Research
Providing synthetic views for teleoperation using visual pose tracking in multiple cameras
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Realtime motion segmentation based multibody visual SLAM
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Towards realtime handheld MonoSLAM in dynamic environments
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
ACIVS'12 Proceedings of the 14th international conference on Advanced Concepts for Intelligent Vision Systems
Estimation and prediction of the vehicle's motion based on visual odometry and kalman filter
ACIVS'12 Proceedings of the 14th international conference on Advanced Concepts for Intelligent Vision Systems
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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 SLAM process 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.