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Realtime motion segmentation based multibody visual SLAM

Authors:

K. Madhava Krishna,

C. V. JawaharAuthors Info & Claims

ICVGIP '10: Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing

Pages 251 - 258

https://doi.org/10.1145/1924559.1924593

Published: 12 December 2010 Publication History

Abstract

In this paper, we present a practical vision based Simultaneous Localization and Mapping (SLAM) system for a highly dynamic environment. We adopt a multibody Structure from Motion (SfM) approach, which is the generalization of classical SfM to dynamic scenes with multiple rigidly moving objects. The proposed framework of multibody visual SLAM allows choosing between full 3D reconstruction or simply tracking of the moving objects, which adds flexibility to the system, for scenes containing non-rigid objects or objects having insufficient features for reconstruction. The solution demands a motion segmentation framework that can segment feature points belonging to different motions and maintain the segmentation with time. We propose a realtime incremental motion segmentation algorithm for this purpose. The motion segmentation is robust and is capable of segmenting difficult degenerate motions, where the moving objects is followed by a moving camera in the same direction. This robustness is attributed to the use of efficient geometric constraints and a probability framework which propagates the uncertainty in the system. The motion segmentation module is tightly coupled with feature tracking and visual SLAM, by exploring various feed-backs in between these modules. The integrated system can simultaneously perform realtime visual SLAM and tracking of multiple moving objects using only a single monocular camera.

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Cited By

He JZhai YFeng HZhang SFu Y(2019)Dynamic Objects Detection Based on Stereo Visual Inertial System in Highly Dynamic Environment2019 IEEE International Conference on Mechatronics and Automation (ICMA)10.1109/ICMA.2019.8816258(2330-2335)Online publication date: Aug-2019
https://doi.org/10.1109/ICMA.2019.8816258
Gao JHan BYan K(2019)Static object imaging features recognition algorithm in dynamic scene mappingMultimedia Tools and Applications10.1007/s11042-019-08148-1Online publication date: 12-Sep-2019
https://doi.org/10.1007/s11042-019-08148-1
Saputra MMarkham ATrigoni N(2018)Visual SLAM and Structure from Motion in Dynamic EnvironmentsACM Computing Surveys10.1145/317785351:2(1-36)Online publication date: 20-Feb-2018
https://dl.acm.org/doi/10.1145/3177853
Show More Cited By

Index Terms

Realtime motion segmentation based multibody visual SLAM
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
  2. Computer graphics
    1. Animation
      1. Motion capture
      2. Motion processing

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Information

Published In

cover image ACM Other conferences

ICVGIP '10: Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing

December 2010

533 pages

ISBN:9781450300605

DOI:10.1145/1924559

General Chairs:
Rama Chellappa
University of Maryland
,
Padmanabhan Anandan
Microsoft Research, India
,
Program Chairs:
A. N. Rajagopalan
Indian Institute of Technology Madras, India
,
P. J. Narayanan
International Institute of Information Technology Hyderabad, India
,
Philip Torr
Oxford Brookes University, UK

Copyright © 2010 ACM.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 12 December 2010

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ICVGIP '10

ICVGIP '10: Seventh Indian Conference on Computer Vision, Graphics and Image Processing

December 12 - 15, 2010

Chennai, India

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Overall Acceptance Rate 95 of 286 submissions, 33%

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Cited By

He JZhai YFeng HZhang SFu Y(2019)Dynamic Objects Detection Based on Stereo Visual Inertial System in Highly Dynamic Environment2019 IEEE International Conference on Mechatronics and Automation (ICMA)10.1109/ICMA.2019.8816258(2330-2335)Online publication date: Aug-2019
https://doi.org/10.1109/ICMA.2019.8816258
Gao JHan BYan K(2019)Static object imaging features recognition algorithm in dynamic scene mappingMultimedia Tools and Applications10.1007/s11042-019-08148-1Online publication date: 12-Sep-2019
https://doi.org/10.1007/s11042-019-08148-1
Saputra MMarkham ATrigoni N(2018)Visual SLAM and Structure from Motion in Dynamic EnvironmentsACM Computing Surveys10.1145/317785351:2(1-36)Online publication date: 20-Feb-2018
https://dl.acm.org/doi/10.1145/3177853
Fremont VFlorez SWang B(2017)Mono-vision based moving object detection in complex traffic scenes2017 IEEE Intelligent Vehicles Symposium (IV)10.1109/IVS.2017.7995857(1078-1084)Online publication date: Jun-2017
https://doi.org/10.1109/IVS.2017.7995857
Hamilton OBreckon T(2016)Generalized dynamic object removal for dense stereo vision based scene mapping using synthesised optical flow2016 IEEE International Conference on Image Processing (ICIP)10.1109/ICIP.2016.7532998(3439-3443)Online publication date: Sep-2016
https://doi.org/10.1109/ICIP.2016.7532998
Lincoln LGonzalez R(2016)Dense 3D Mapping Using Volume Reigstration from Monocular View2016 10th International Conference on Complex, Intelligent, and Software Intensive Systems (CISIS)10.1109/CISIS.2016.99(137-141)Online publication date: Jul-2016
https://doi.org/10.1109/CISIS.2016.99
Lincoln LGonzalez R(2016)Dense 3D Mapping Using Volume RegistrationNature of Computation and Communication10.1007/978-3-319-46909-6_3(22-32)Online publication date: 26-Oct-2016
https://doi.org/10.1007/978-3-319-46909-6_3
Castelli TTremeau AKonik HDinet E(2015)Moving object detection for unconstrained low-altitude aerial videos, a pose-independant detector based on Artificial Flow2015 9th International Symposium on Image and Signal Processing and Analysis (ISPA)10.1109/ISPA.2015.7306030(42-47)Online publication date: Sep-2015
https://doi.org/10.1109/ISPA.2015.7306030
Ćesić JMarković IPetrović I(2015)Moving Objects Tracking on the Unit Sphere Using a Multiple-Camera System on a Mobile RobotIntelligent Autonomous Systems 1310.1007/978-3-319-08338-4_65(899-911)Online publication date: 3-Sep-2015
https://doi.org/10.1007/978-3-319-08338-4_65
Namdev RKrishna KJawahar C(2013)Multibody VSLAM with relative scale solution for curvilinear motion reconstruction2013 IEEE International Conference on Robotics and Automation10.1109/ICRA.2013.6631401(5732-5739)Online publication date: May-2013
https://doi.org/10.1109/ICRA.2013.6631401
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