When: Thursday 14th of August, 1:00pm AEST
Where: This seminar will be partially presented at the ACFR seminar area, J04 lvl 2 (Rose St Building) and partially online via Zoom. RSVP
Speaker: Jesse Morris
Title: Online Dynamic SLAM with Incremental Smoothing and Mapping
Abstract:
Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present the first application of incremental optimisation techniques to Dynamic SLAM. We introduce a novel factor-graph formulation and system architecture designed to take advantage of existing incremental optimisation methods and support online estimation. On multiple datasets, we demonstrate that our method is comparable to state-of-the-art in camera pose and object motion accuracy. We further analyse the structural properties of our approach to demonstrate its scalability and provide insight regarding the challenges of solving Dynamic SLAM incrementally. Finally, we show that our formulation results in problem structure well-suited to incremental solvers, while our system architecture further enhances performance, achieving a 5× speed-up over existing methods.
Bio:
Jesse 3rd year PhD student at the Australian Centre For Robotics, supervised by Dr Viorela Ila. His thesis focuses on developing an estimation framework for Dynamic Visual SLAM. He received his bachelors degree in Mechatronic Engineering and Computer Science from the University of Sydney in 2022.