Moving Objects

[colek42]

I am trying to localize moving objects. Is is possible with LSD slam, given a window, to extract depth information for objects that are moving from frame to frame, i.e. a walking person? I will be matching feature vectors in R^2 (HOG+SVM) and attempting to localize them in R^3. I noticed that the moving objects turn black in the visulizer. Much appreciated if you could point me in the right direction.

[amiltonwong]

Hi, colek42,
Could you present why it has significance to localize the moving objects? Or you want to do a dynamic reconstruction of the moving objects?
For localize moving objects, existing approaches like object tracking may be worth considering.

[colek42]

I do not need to do reconstruction of the moving object. Right now our research is focused on tracking moving objects using low cost MAVs. Use case will be avoidance/following. Reconstruction using monocular slam is a difficult problem.

[amiltonwong]

So for your scenario, object tracking approach may meet your needs

[colek42]

Matching SURF/SIFT features on humans does not work well. It looks like the depth information make be marked as invalid in somwhere in DepthEstimation/DepthMap.cpp.

Everytime I get a new key frame I am going to search for matching feature vectors (humans) in R^2. If I have a match I want to mark the 'box', and and segment the points in R^3 that reside in that box, in a seperate data structure. Right now it looks like those points get discarded. I want to use them, I have other aproaches as well if you don't think this will work well, we do want to use LSD SLAM for other reasons. I apologize if this does not make sense, I am still at the hypothesis stage.