Moving Object Tracking for SLAM-based Augmented Reality


  • Douglas Coelho Braga de Oliveira Computer Science Department, Federal University of Juiz de Fora, Brazil
  • Rodrigo Luis de Souza da Silva Computer Science Department, Federal University of Juiz de Fora, Brazil



Augmented Reality, SLAM


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.


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Author Biographies

Douglas Coelho Braga de Oliveira, Computer Science Department, Federal University of Juiz de Fora, Brazil

Douglas Coelho Braga de Oliveira has a B.S. degree (2016) and M.S. degree (2018) in Computer Science from the Federal University of Juiz de Fora. His research interests are Computer Graphics, Virtual Reality and Computer Vision.

Rodrigo Luis de Souza da Silva, Computer Science Department, Federal University of Juiz de Fora, Brazil

Rodrigo Luis de Souza da Silva is an Associate Professor in the Department of Computer Science at Federal University of Juiz de Fora. He has a B.S. in Computer Science from the Catholic University of Petropolis (1999), M.S. in Computer Science from Federal University of Rio de Janeiro (2002), Ph.D. in Civil Engineering from Federal University of Rio de Janeiro (2006) and a postdoc in Computer Science from the National Laboratory for Scientific Computing (2008). His main research interests are Augmented Reality, Virtual Reality, Scientific Visualization and Computer Graphics.


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