EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association
| العنوان: | EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association |
|---|---|
| المؤلفون: | Michael Strecke, Joerg Stueckler |
| المصدر: | ICCV |
| سنة النشر: | 2019 |
| مصطلحات موضوعية: | business.industry, Computer science, Probabilistic logic, Novelty, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Computer Science - Computer Vision and Pattern Recognition, 020207 software engineering, Signed distance function, Robotics, 02 engineering and technology, Computer Science - Robotics, Robustness (computer science), Outlier, 0202 electrical engineering, electronic engineering, information engineering, RGB color model, 020201 artificial intelligence & image processing, Computer vision, Augmented reality, Artificial intelligence, business |
| الوصف: | The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential for applications in robotics or augmented reality. In this paper, we propose a novel approach to dynamic SLAM with dense object-level representations. We represent rigid objects in local volumetric signed distance function (SDF) maps, and formulate multi-object tracking as direct alignment of RGB-D images with the SDF representations. Our main novelty is a probabilistic formulation which naturally leads to strategies for data association and occlusion handling. We analyze our approach in experiments and demonstrate that our approach compares favorably with the state-of-the-art methods in terms of robustness and accuracy. Comment: IEEE/CVF International Conference on Computer Vision (ICCV) 2019, Project page: https://emfusion.is.tue.mpg.de/, Source code: https://github.com/EmbodiedVision/emfusion |
| اللغة: | English |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9369ea524975b94119d6cac821a929c9 http://arxiv.org/abs/1904.11781 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....9369ea524975b94119d6cac821a929c9 |
| قاعدة البيانات: | OpenAIRE |
| الوصف غير متاح. |