Avoiding moving outliers in visual slam by tracking moving objects

Avoiding moving outliers in visual slam by tracking moving objects

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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,...

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Bibliografiske detaljer
Main Authors:	Wangsiripitak, S, Murray, D
Format:	Journal article
Sprog:	English
Udgivet:	2009

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