Simultaneous Localization, Map Building adapting for dynamic objects with a Single Camera

DOI Web Site 21 References

Bibliographic Information

Other Title
  • 単眼カメラを用いた動物体対応SLAM(<特集>3次元インタラクション)
  • 単眼カメラを用いた動物体対応SLAM
  • タンガン カメラ オ モチイタ ドウブツタイ タイオウ SLAM

Search this article

Description

The augmented reality (AR) technology is based on environment recognition systems which can estimate 3D environment in real-time. In this paper, we introduce a new environment recognition system which can estimate not only 3D environment consisted of static feature-points but also poses of shape-and-pattern-known dynamic objects with a single camera simultaneously. Our system is based on the Extended Kalman Filter (EKF). The EKF in our system has state variables which have camera pose, static feature-point positions and dynamic object poses. As the EKF updates the state variables with measurement data by camera, our system can estimate the dynamic environment. The EKF updates the state variables with two types of measurement model. The first model is for the feature points and the second model is for the dynamic objects.

Journal

References(21)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top