Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects

Takehiro Ozawa, Yoshikatsu Nakajima, Hideo Saito

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Most SLAM works based on the assumption of static scene, so localization of the camera and mapping of the scene can fail and lose accuracy of the scene, including moving objects. This paper presents a method for simultaneous mapping of moving objects in the target scene and localization of the moving camera, based on geometrical segmentation of each temporal frame. Taking advantage of segmentation of the target scene, using only the geometric structure of the scene, our method can estimate relative pose for camera and every geometrically segmented areas even without recognizing each object. For confirming the effectiveness of the proposed method, we experimentally show that our method can estimate relative poses for all segmented areas in the scene, so that we can achieve SLAM for the scene, including multiple moving objects.

Original languageEnglish
Title of host publicationProceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019
EditorsDongdong Weng, Liwei Chan, Youngho Lee, Xiaohui Liang, Nobuchika Sakata
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728115719
DOIs
Publication statusPublished - 2019 May 7
Event12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019 - Ikoma, Nara, Japan
Duration: 2019 Mar 282019 Mar 29

Publication series

NameProceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019

Conference

Conference12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019
CountryJapan
CityIkoma, Nara
Period19/3/2819/3/29

Keywords

  • Mapping
  • Multi-object
  • SLAM
  • Tracking

ASJC Scopus subject areas

  • Education
  • Sociology and Political Science
  • Communication
  • Marketing
  • Strategy and Management
  • Computer Networks and Communications
  • Information Systems and Management
  • Social Psychology

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  • Cite this

    Ozawa, T., Nakajima, Y., & Saito, H. (2019). Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects. In D. Weng, L. Chan, Y. Lee, X. Liang, & N. Sakata (Eds.), Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019 [8709158] (Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/APMAR.2019.8709158