Moving Object Tracking for SLAM-based Augmented Reality

Abstract

Augmented Reality (AR) systems based on the Simultaneous Localization and Mapping (SLAM) problem have received much attention in the last few years. SLAM allows AR applications on unprepared environments, i.e., without markers. However, by eliminating the marker object, we lose the referential for virtual object projection and the main source of interaction between real and virtual elements. In the recent literature, we found works that integrate an object recognition system to the SLAM in a way the objects are incorporated into the map. In this work, we propose a novel optimization framework for an object-aware SLAM system capable of simultaneously estimating the camera and moving objects positioning in the map. In this way, we can combine the advantages of both marker- and SLAM-based methods. We implement our proposed framework over state-of-the-art SLAM software and demonstrate potential applications for AR like the total occlusion of the marker object.