Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
A Unified Approach to Moving Object Detection in 2D and 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Independent Motion Detection in 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Detection of Independent Motion using Stereo
WACV-MOTION '05 Proceedings of the IEEE Workshop on Motion and Video Computing (WACV/MOTION'05) - Volume 2 - Volume 02
Two-View Multibody Structure-and-Motion with Outliers through Model Selection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Two-View Multibody Structure from Motion
International Journal of Computer Vision
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous Localization, Mapping and Moving Object Tracking
International Journal of Robotics Research
SBA: A software package for generic sparse bundle adjustment
ACM Transactions on Mathematical Software (TOMS)
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
The New College Vision and Laser Data Set
International Journal of Robotics Research
Avoiding moving outliers in visual SLAM by tracking moving objects
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robust Algebraic Segmentation of Mixed Rigid-Body and Planar Motions from Two Views
International Journal of Computer Vision
Multibody Structure-from-Motion in Practice
IEEE Transactions on Pattern Analysis and Machine Intelligence
Perspective n-view multibody structure-and-motion through model selection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Guest Editorial Special Issue on Visual SLAM
IEEE Transactions on Robotics
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper, we present a practical vision based Simultaneous Localization and Mapping (SLAM) system for a highly dynamic environment. We adopt a multibody Structure from Motion (SfM) approach, which is the generalization of classical SfM to dynamic scenes with multiple rigidly moving objects. The proposed framework of multibody visual SLAM allows choosing between full 3D reconstruction or simply tracking of the moving objects, which adds flexibility to the system, for scenes containing non-rigid objects or objects having insufficient features for reconstruction. The solution demands a motion segmentation framework that can segment feature points belonging to different motions and maintain the segmentation with time. We propose a realtime incremental motion segmentation algorithm for this purpose. The motion segmentation is robust and is capable of segmenting difficult degenerate motions, where the moving objects is followed by a moving camera in the same direction. This robustness is attributed to the use of efficient geometric constraints and a probability framework which propagates the uncertainty in the system. The motion segmentation module is tightly coupled with feature tracking and visual SLAM, by exploring various feed-backs in between these modules. The integrated system can simultaneously perform realtime visual SLAM and tracking of multiple moving objects using only a single monocular camera.