| Presentation | 2017-03-20 Visual-SLAM with Unfixed Monocular Camera in Dynamic Environment Takahiro Terashima, Osamu Hasegawa, |
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| PDF Download Page |  PDF download Page Link |
| 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 |
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| 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 |
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| 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) |