Hybrid vision-based SLAM coupled with moving object tracking

Abstract

In this paper we propose a hybrid vision-based SLAM and moving objects tracking (vSLAMMOT) approach. This approach tightly combines two key methods: a superpixel-based segmentation to detect moving objects and a Rao-Blackwellized Particle Filter to estimate a stereo-vision-based SLAM posterior. Most successful methods perform vision-based SLAM (vSLAM) and… (More)
DOI: 10.1109/ICRA.2014.6906956

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