Journal ArticleDOI
CoSLAM: Collaborative Visual SLAM in Dynamic Environments
Danping Zou,Ping Tan +1 more
Reads0
Chats0
TLDR
Experimental results demonstrate that the vision-based simultaneous localization and mapping in dynamic environments with multiple cameras can work robustly in highly dynamic environments and produce more accurate results in static environments.Abstract:
This paper studies the problem of vision-based simultaneous localization and mapping (SLAM) in dynamic environments with multiple cameras. These cameras move independently and can be mounted on different platforms. All cameras work together to build a global map, including 3D positions of static background points and trajectories of moving foreground points. We introduce intercamera pose estimation and intercamera mapping to deal with dynamic objects in the localization and mapping process. To further enhance the system robustness, we maintain the position uncertainty of each map point. To facilitate intercamera operations, we cluster cameras into groups according to their view overlap, and manage the split and merge of camera groups in real time. Experimental results demonstrate that our system can work robustly in highly dynamic environments and produce more accurate results in static environments.read more
Citations
More filters
Journal ArticleDOI
Multirobot Collaborative Monocular SLAM Utilizing Rendezvous
TL;DR: This article proposes a collaborative monocular SLAM including a map fusion algorithm that utilizes rendezvous, which can happen when multirobot team members operate in close proximity, and uses a monocular camera only.
Posted Content
StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environments
TL;DR: The proposed VIO approach adopts structural regularity in man-made environments by using Atlanta world model to describe such regularity, and outperforms existing visual-inertial systems in large-scale man- made environments.
Journal ArticleDOI
Dynamic objects elimination in SLAM based on image fusion
TL;DR: The dynamic objects elimination in SLAM based on image fusion algorithm is studied based on a camera motion model for the moving platform and the results contain all environment information, and the fusion image can be used to replace the image sequence inSLAM.
Journal ArticleDOI
Intelligent Luminance Control of Lighting Systems Based on Imaging Sensor Feedback
TL;DR: An imaging sensor-based intelligent Light Emitting Diode (LED) lighting system for desk use that can tune the LED lamp automatically according to environment luminance changes is proposed.
Proceedings ArticleDOI
A swarm of flying smartphones
Giuseppe Loianno,Yash Mulgaonkar,Christopher Brunner,Dheeraj Ahuja,Arvind Ramanandan,Murali Ramaswamy Chari,Serafin Diaz,Vijay Kumar +7 more
TL;DR: This work presents the first fully autonomous smartphone-based swarm of quadrotors able to plan safe trajectories avoiding inter-robot collisions, optimizing at the same time a given task and concurrently building in a cooperative manner a 3-D map of the environment.
References
More filters
Proceedings ArticleDOI
Good features to track
Jianbo Shi,Tomasi +1 more
TL;DR: A feature selection criterion that is optimal by construction because it is based on how the tracker works, and a feature monitoring method that can detect occlusions, disocclusions, and features that do not correspond to points in the world are proposed.
Proceedings ArticleDOI
Parallel Tracking and Mapping for Small AR Workspaces
Georg Klein,David W. Murray +1 more
TL;DR: A system specifically designed to track a hand-held camera in a small AR workspace, processed in parallel threads on a dual-core computer, that produces detailed maps with thousands of landmarks which can be tracked at frame-rate with accuracy and robustness rivalling that of state-of-the-art model-based systems.
Journal ArticleDOI
MonoSLAM: Real-Time Single Camera SLAM
TL;DR: The first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches is presented.
Journal ArticleDOI
Simultaneous localization and mapping: part I
TL;DR: This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method.
Proceedings ArticleDOI
Real-time simultaneous localisation and mapping with a single camera
TL;DR: This work presents a top-down Bayesian framework for single-camera localisation via mapping of a sparse set of natural features using motion modelling and an information-guided active measurement strategy, in particular addressing the difficult issue of real-time feature initialisation via a factored sampling approach.