Presentation 2017-03-20
Visual-SLAM with Unfixed Monocular Camera in Dynamic Environment
Takahiro Terashima, Osamu Hasegawa,
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Abstract(in Japanese) (See Japanese page)
Abstract(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)
Keyword(in English) Visual-SLAM / Monocular Camera / Visual Odometry / Loop-Closing
Paper # BioX2016-51,PRMU2016-214
Date of Issue 2017-03-13 (BioX, PRMU)

Conference Information
Committee PRMU / BioX
Conference Date 2017/3/20(2days)
Place (in Japanese) (See Japanese page)
Place (in English)
Topics (in Japanese) (See Japanese page)
Topics (in English)
Chair Eisaku Maeda(NTT) / Masakatsu Nishigaki(Shizuoka Univ.)
Vice Chair Seiichi Uchida(Kyushu Univ.) / Hironobu Fujiyoshi(Chubu Univ.) / Akira Otsuka(AIST) / Hiroshi Takano(Toyama Pref. Univ.)
Secretary Seiichi Uchida(Kyoto Univ.) / Hironobu Fujiyoshi(NTT) / Akira Otsuka(NEC) / Hiroshi Takano(AIST)
Assistant Masaki Oonishi(AIST) / Takuya Funatomi(NAIST) / Masatsugu Ichino(Univ. of Electro-Comm.) / Naoyuki Takada(Secom) / Takahiro Aoki(Fujitsu Labs.)

Paper Information
Registration To Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Biometrics
Language JPN
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)
Date 2017-03-20
Paper # BioX2016-51,PRMU2016-214
Volume (vol) vol.116
Number (no) BioX-527,PRMU-528
Page pp.pp.111-116(BioX), pp.111-116(PRMU),
#Pages 6
Date of Issue 2017-03-13 (BioX, PRMU)