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StaticFusion: background reconstruction for dense RGB-D SLAM in dynamic environments

Abstract:

Dynamic environments are challenging for visual SLAM as moving objects can impair camera pose tracking and cause corruptions to be integrated into the map. In this paper, we propose a method for robust dense RGB-D SLAM in dynamic environments which detects moving objects and simultaneously reconstructs the background structure. While most methods employ implicit robust penalisers or outlier filtering techniques in order to handle moving objects, our approach is to simultaneously estimate the ...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted Manuscript

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Publisher copy:
10.1109/ICRA.2018.8460681

Authors


Petillot, YR More by this author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Cremers, D More by this author
Publisher:
IEEE Publisher's website
Pages:
3849-3856
Publication date:
2018-09-13
Acceptance date:
2018-01-15
DOI:
EISSN:
2577-087X
Pubs id:
pubs:820459
URN:
uri:b06224b2-62dd-459f-bbf7-1352dbbb5dc8
UUID:
uuid:b06224b2-62dd-459f-bbf7-1352dbbb5dc8
Local pid:
pubs:820459
ISBN:
978-1-5386-3081-5

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