Scaled monocular SLAM for walking people

  title={Scaled monocular SLAM for walking people},
  author={Daniel Guti{\'e}rrez-G{\'o}mez and Josechu J. Guerrero},
In this paper we present a full-scaled real-time monocular SLAM using only a wearable camera. Assuming that the person is walking, the perception of the head oscillatory motion in the initial visual odometry estimate allows for the computation of a dynamic scale factor for static windows of N camera poses. Improving on this method we introduce a consistency test to detect non-walking situations and propose a sliding window approach to reduce the delay in the update of the scaled trajectory. We… CONTINUE READING
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