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Paper Abstract and Keywords
Presentation 2017-03-20 17:35
Visual-SLAM with Unfixed Monocular Camera in Dynamic Environment
Takahiro Terashima, Osamu Hasegawa (Tokyo Tech) BioX2016-51 PRMU2016-214
Abstract (in Japanese) (See Japanese page) 
(in English) SLAM(Simultaneous Localization and Mapping) is a core subject in computer vision and robotics.The problem of SLAM is to maintain accuracy in environments where there are dynamic objects such as humans and cars which become noise of SLAM.In this paper, we focus on the technique of ICGM2.0, exclude dynamic features and generate a map in crowded environment, further carry out the improvements.In addition, we conducted experiments in a real crowded indoor and outdoor environment.Experiment result show that our approach is superior compared to conventional approach in terms of accuracy.
Keyword (in Japanese) (See Japanese page) 
(in English) Visual-SLAM / Monocular Camera / Visual Odometry / Loop-Closing / / / /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 528, PRMU2016-214, pp. 111-116, March 2017.
Paper # PRMU2016-214 
Date of Issue 2017-03-13 (BioX, PRMU) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF BioX2016-51 PRMU2016-214

Conference Information
Committee PRMU BioX  
Conference Date 2017-03-20 - 2017-03-21 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To PRMU 
Conference Code 2017-03-PRMU-BioX 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Visual-SLAM with Unfixed Monocular Camera in Dynamic Environment 
Sub Title (in English)  
Keyword(1) Visual-SLAM  
Keyword(2) Monocular Camera  
Keyword(3) Visual Odometry  
Keyword(4) Loop-Closing  
1st Author's Name Takahiro Terashima  
1st Author's Affiliation Tokyo Institute of Technology (Tokyo Tech)
2nd Author's Name Osamu Hasegawa  
2nd Author's Affiliation Tokyo Institute of Technology (Tokyo Tech)
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Date Time 2017-03-20 17:35:00 
Presentation Time 25 
Registration for PRMU 
Paper # IEICE-BioX2016-51,IEICE-PRMU2016-214 
Volume (vol) IEICE-116 
Number (no) no.527(BioX), no.528(PRMU) 
Page pp.111-116 
#Pages IEICE-6 
Date of Issue IEICE-BioX-2017-03-13,IEICE-PRMU-2017-03-13 

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