Paper Abstract and Keywords |
Presentation |
2015-01-23 14:25
Simultaneous Localization and Mapping by Hand-Held Monocular Camera in a Crowd Toru Kayanuma, Gangchen Hua, Osamu Hasegawa (Tokyo Tech) PRMU2014-109 MVE2014-71 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
SLAM is a popular method for generating maps for localization or navigation. But the existing methods always meet problems with stability and accuracy in crowded environments, which are benchmarks for SLAM. In this paper, we proposed an vision-only SLAM method robust in crowded environments, for instance, large stations, by only using monocular camera. We have tested and compared our method with another method with same conditions at crowded environment. The results of the experiment proved that, by extracting robust features from a sequence of images, our method can work not only the stable but also accurate in dynamic environments. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
visual SLAM / visual Odometry / Monocular Camera / / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 114, no. 409, PRMU2014-109, pp. 265-270, Jan. 2015. |
Paper # |
PRMU2014-109 |
Date of Issue |
2015-01-15 (PRMU, MVE) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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PRMU2014-109 MVE2014-71 |
Conference Information |
Committee |
PRMU IPSJ-CVIM MVE |
Conference Date |
2015-01-22 - 2015-01-23 |
Place (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
PRMU |
Conference Code |
2015-01-PRMU-CVIM-MVE |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Simultaneous Localization and Mapping by Hand-Held Monocular Camera in a Crowd |
Sub Title (in English) |
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Keyword(1) |
visual SLAM |
Keyword(2) |
visual Odometry |
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Monocular Camera |
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1st Author's Name |
Toru Kayanuma |
1st Author's Affiliation |
Tokyo Institute of Technology (Tokyo Tech) |
2nd Author's Name |
Gangchen Hua |
2nd Author's Affiliation |
Tokyo Institute of Technology (Tokyo Tech) |
3rd Author's Name |
Osamu Hasegawa |
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Tokyo Institute of Technology (Tokyo Tech) |
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Speaker |
Author-1 |
Date Time |
2015-01-23 14:25:00 |
Presentation Time |
25 minutes |
Registration for |
PRMU |
Paper # |
PRMU2014-109, MVE2014-71 |
Volume (vol) |
vol.114 |
Number (no) |
no.409(PRMU), no.410(MVE) |
Page |
pp.265-270 |
#Pages |
6 |
Date of Issue |
2015-01-15 (PRMU, MVE) |
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