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Multi-object Monocular SLAM for Dynamic Environments
[article]
2020
arXiv
pre-print
In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic participants in the scene. The quintessential challenge in dynamic scenes is unobservability: it is not possible to unambiguously triangulate a moving object from a moving monocular camera. Existing approaches solve restricted variants of the problem, but the solutions suffer relative scale ambiguity (i.e., a family
arXiv:2002.03528v2
fatcat:lnwmwshmbjewdomvi6f2dzsztm