Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects

Takehiro Ozawa; Yoshikatsu Nakajima; Hideo Saito

doi:10.1109/APMAR.2019.8709158

Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects

Takehiro Ozawa, Yoshikatsu Nakajima, Hideo Saito

Department of Information and Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

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 language	English
Title of host publication	Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019
Editors	Dongdong Weng, Liwei Chan, Youngho Lee, Xiaohui Liang, Nobuchika Sakata
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728115719
DOIs	https://doi.org/10.1109/APMAR.2019.8709158
Publication status	Published - 2019 May 7
Event	12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019 - Ikoma, Nara, Japan Duration: 2019 Mar 28 → 2019 Mar 29

Publication series

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

Conference

Conference	12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019
Country/Territory	Japan
City	Ikoma, Nara
Period	19/3/28 → 19/3/29

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

Access to Document

10.1109/APMAR.2019.8709158

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

Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects. / Ozawa, Takehiro; Nakajima, Yoshikatsu; Saito, Hideo.

Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019. ed. / Dongdong Weng; Liwei Chan; Youngho Lee; Xiaohui Liang; Nobuchika Sakata. Institute of Electrical and Electronics Engineers Inc., 2019. 8709158 (Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019, Ikoma, Nara, Japan, 19/3/28. https://doi.org/10.1109/APMAR.2019.8709158

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

Ozawa, Takehiro ; Nakajima, Yoshikatsu ; Saito, Hideo. / Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects. Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019. editor / Dongdong Weng ; Liwei Chan ; Youngho Lee ; Xiaohui Liang ; Nobuchika Sakata. Institute of Electrical and Electronics Engineers Inc., 2019. (Proceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019).

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title = "Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects",

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.",

keywords = "Mapping, Multi-object, SLAM, Tracking",

author = "Takehiro Ozawa and Yoshikatsu Nakajima and Hideo Saito",

note = "Funding Information: ACKNOWLEDGEMENT This work was supported by JST AIP-PRISM GrantNumber JPMJCR18Y2. Publisher Copyright: {\textcopyright} 2019 IEEE.; 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019 ; Conference date: 28-03-2019 Through 29-03-2019",

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AB - 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.

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Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects

Abstract

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Conference

Keywords

ASJC Scopus subject areas

Access to Document

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