Simultaneous 3D Tracking and Reconstruction of Multiple Moving Rigid Objects

Takehiro Ozawa, Yoshikatsu Nakajima, Hideo Saito

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2019 12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019
編集者Dongdong Weng, Liwei Chan, Youngho Lee, Xiaohui Liang, Nobuchika Sakata
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728115719
DOI
出版ステータスPublished - 2019 5 7
イベント12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019 - Ikoma, Nara, Japan
継続期間: 2019 3 282019 3 29

出版物シリーズ

名前Proceedings 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

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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