Detection and Tracking of Moving Objects in SLAM using Vision Sensors

[[abstract]]This paper presents algorithms for improving the detection of moving objects in robot visual simultaneous localization and mapping (SLAM). The method of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust detection for image features as well as a better description of landmarks in the map of a visual SLAM system. Meanwhile, a moving object detection (MOD) is designed based on the correspondence constraint of the essential matrix for the feature points on image plane. Experiments are carried out on a hand-held camera sensor to verify the performances of the proposed algorithms. The results show that the integration of SURF and MOD is efficient to improve the robustness of robot SLAM.[[conferencetype]]國際[[conferencedate]]20110510~20110512[[iscallforpapers]]Y[[conferencelocation]]Binjiang, Chin