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International Symposium on Visual Computing

ISVC 2011: Advances in Visual Computing pp 313–324Cite as

Towards Realtime Handheld MonoSLAM in Dynamic Environments

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 6938))

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. 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.

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Author information

Authors and Affiliations

  1. Department of Electronic & Telecommunication Engineering, University of Moratuwa, Moratuwa, Sri Lanka

    Samunda Perera & Ajith Pasqual

Authors
  1. Samunda Perera
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  2. Ajith Pasqual
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Editor information

Editors and Affiliations

  1. University of Nevada, 89557, Reno, NV, USA

    George Bebis

  2. NASA Ames Research Center, 94035, Moffett Field, CA, USA

    Richard Boyle

  3. Lawrence Berkeley National Laboratory, 94720, Berkeley, CA, USA

    Bahram Parvin

  4. Desert Research Institute, 89512, Reno, NV, USA

    Darko Koracin

  5. Department of Computer Science and Engineering, University of South Carolina, 29208, Columbia, SC, USA

    Song Wang

  6. HRL Laboratories, 3011 Malibu Canyon Road, 90265-4797, Malibu, CA, USA

    Kim Kyungnam

  7. Purdue University, 47907-2021, West Lafayette, IN, USA

    Bedrich Benes

  8. Sandia National Laboratory, 87185, Albuquerque, NM, USA

    Kenneth Moreland

  9. University of Louisiana, 70504, Lafayette, LA, USA

    Christoph Borst

  10. Adobe Systems Incorporated, San Francisco, CA, USA

    Stephen DiVerdi

  11. Polytechnic Institute of NYU, 11201, Brooklyn, NY, USA

    Chiang Yi-Jen

  12. Lawrence Livermore National Laboratory, 94551-0808, Livermore, CA, USA

    Jiang Ming

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© 2011 Springer-Verlag Berlin Heidelberg

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Perera, S., Pasqual, A. (2011). Towards Realtime Handheld MonoSLAM in Dynamic Environments. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2011. Lecture Notes in Computer Science, vol 6938. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24028-7_29

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  • DOI: https://doi.org/10.1007/978-3-642-24028-7_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-24027-0

  • Online ISBN: 978-3-642-24028-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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