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\iteman{io-port 05979479}
\itemau{Perera, Samunda; Pasqual, Ajith}
\itemti{Towards realtime handheld monoSLAM in dynamic environments.}
\itemso{Bebis, George (ed.) et al., Advances in visual computing. 7th international symposium, ISVC 2011, Las Vegas, NV, USA, September 26--28, 2011. Proceedings, Part I. Berlin: Springer (ISBN 978-3-642-24027-0/pbk). Lecture Notes in Computer Science 6938, 313-324 (2011).}
\itemab
Summary: Traditional monoSLAM assumes stationary landmarks making it unable to cope up with dynamic environments where moving objects are present in the scene. This paper presents the parallel implementation of monoSLAM with a set of independent EKF trackers where stationary features and moving features are tracked separately. The difficult problem of detecting moving points from a moving camera is addressed by the epipolar constraint computed by using the measurement information already available with the monoSLAM algorithm. While doing so SLAM measurement outlier rejection is also performed. Results are presented to verify and highlight the advantages of our approach over traditional SLAM.
\itemrv{~}
\itemcc{}
\itemut{SLAM; monoSLAM}
\itemli{doi:10.1007/978-3-642-24028-7\_29}
\end