Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visualizing with VTK: A Tutorial
IEEE Computer Graphics and Applications
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer 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
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Avoiding moving outliers in visual SLAM by tracking moving objects
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On the use of inverse scaling in monocular SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Combining monoSLAM with object recognition for scene augmentation using a wearable camera
Image and Vision Computing
Fusing Monocular Information in Multicamera SLAM
IEEE Transactions on Robotics
Large-Scale 6-DOF SLAM With Stereo-in-Hand
IEEE Transactions on Robotics
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
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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. The difficult problem of detecting moving points from a 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 rejection is also performed. Results are presented to verify and highlight the advantages of our approach over traditional SLAM.