Multi-object Monocular SLAM for Dynamic Environments

@article{Nair2020MultiobjectMS,
  title={Multi-object Monocular SLAM for Dynamic Environments},
  author={Gokul B. Nair and Swapnil Daga and Rahul Sajnani and Anirudh Ramesh and Junaid Ahmed Ansari and K. Madhava Krishna},
  journal={2020 IEEE Intelligent Vehicles Symposium (IV)},
  year={2020},
  pages={651-657}
}
In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic participants in the scene. The quintessential challenge in dynamic scenes is unobservability: it is not possible to unambiguously triangulate a moving object from a moving monocular camera. Existing approaches solve restricted variants of the problem, but the solutions suffer relative scale ambiguity (i.e., a family… Expand
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