Spatiotemporal Articulated Models for Dynamic SLAM

نویسندگان

  • Suren Kumar
  • Vikas Dhiman
  • Madan Ravi Ganesh
  • Jason J. Corso
چکیده

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future motions of an articulated object with high confidence because of the spatial and temporal structure. We demonstrate the effectiveness of the predictive model by incorporating it within a standard simultaneous localization and mapping (SLAM) pipeline for mapping and robot localization in previously unexplored dynamic environments. Our method is able to localize the robot and map a dynamic scene by explaining the observed motion in the world. We demonstrate the effectiveness of the proposed framework for both simulated and real-world dynamic environments.

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عنوان ژورنال:
  • CoRR

دوره abs/1604.03526  شماره 

صفحات  -

تاریخ انتشار 2010