Dynamic feature detection using virtual correction and camera oscillations

Heshmat, Mohamed, Abdellatif, Mohamed, Nakamura, Kazuaki , Abouelsoud, A. A. and Babaguchi, Noboru (2014) Dynamic feature detection using virtual correction and camera oscillations. In: The IEEE International Conference on 3D Imaging (IC3D), 9-10 Dec. 2014, Liege, Belgium.

Heshmat IC3D 2014 1.pdf
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Item Type:Conference or Workshop contribution (Presentation)
Item Status:Live Archive


Visual SLAM algorithms exploit natural scene features to infer the camera motion and build a map of a static environment. In this paper, we relax the severe assumption of a static scene to allow for the detection and deletion of dynamic points. A new "virtual correction" method is introduced which serves to detect the dynamic points by checking the re-projection error of the points before and after the virtual measurement update. It can also recover the erroneously excluded useful features, particularly the distant points which may be deleted because of the change in its position after new measurement observation. Deliberate camera oscillations are also used to improve the VSLAM accuracy and the camera observability. The simulation results showed the effectiveness of the virtual correction when combined with camera oscillation in recovering the misclassified features and detecting the dynamic features even in difficult scenarios.

Keywords:Visual SLAM, Dynamic Points Detection, Camera Oscillation, Virtual Correction
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:25429
Deposited On:26 Dec 2016 19:48

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