Real-Time Multiple Object Tracking and Reconstruction with a Moving RGBD Camera

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  • 移動RGBDカメラによる複数移動物体の実時間追跡と3次元形状再構成

Description

SLAM is a technology for estimating camera positions from images and at the same time creating a 3D map of the environment. However, since SLAM assumes a static environment, the system will fail if a moving object is in the environment. The purpose of this paper is to perform SLAM even when there are multiple moving objects in the environment and to track each moving object and reconstruct its 3D shape. In the experiment, the effectiveness of this method is verified by comparing the accuracy of camera tracking, 3D shape reconstruction, and computational time with the conventional method.

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