2020
DOI: 10.48550/arxiv.2011.07613
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BirdSLAM: Monocular Multibody SLAM in Bird's-Eye View

Abstract: In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a monocular camera. BirdSLAM tackles challenges faced by other monocular SLAM systems (such as scale ambiguity in monocular reconstruction, dynamic object localization, and uncertainty in feature representation) by using an orthographic (bird's-eye) view as the configuration space in which localization and mapping are performed. By assum… Show more

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