Visual Mapping in Light-Crowded Indoor Environments

  • Jan Helge Klüssendorff
  • Kristian Ehlers
  • Erik Maehle
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


Due to the recent success of affordable RGBD cameras, solutions to the Visual Simultaneous Localization and Mapping (VSLAM) problem has experienced a huge leap. To enable accurate mapping solutions, most of the proposed solutions expect static environments. Thinking of industrial applications, there is no guarantee for static environments. The SLAM algorithm has to cope with moving objects like human beings. We present an approach to detect moving objects in RGBD camera images. The approach is based on point cloud and image filtering techniques. We present test results using publicly available datasets. We further show the performance and influence of the algorithm on mapping and on the accuracy of a visual SLAM system.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Jan Helge Klüssendorff
    • 1
  • Kristian Ehlers
    • 1
  • Erik Maehle
    • 1
  1. 1.Institute of Computer EngineeringUniversity of LuebeckLuebeckGermany

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