Mapeamento e Localização Simultâneos em Ambientes Dinâmicos usando Detecção de Pessoas

  • João Carlos Virgolino Soares PUC-Rio
  • Marcelo Gattass PUC-Rio
  • Marco Antonio Meggiolaro PUC-Rio


Localização e Mapeamento Simultâneos é um problema fundamental em robótica móvel. No entanto, a maioria dos algoritmos de SLAM Visual assume um cenário estático, limitando sua aplicabilidade em ambientes do mundo real. Lidar com conteúdo dinâmico em SLAM visual ainda é um problema em aberto. Este trabalho apresenta o primeiro método de SLAM visual feito para ambientes humanos lotados usando detecção de pessoas.


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SOARES, João Carlos Virgolino; GATTASS, Marcelo; MEGGIOLARO, Marco Antonio. Mapeamento e Localização Simultâneos em Ambientes Dinâmicos usando Detecção de Pessoas. In: CONCURSO DE TESES E DISSERTAÇÕES EM ROBÓTICA - CTDR (DOUTORADO) - SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO-AMERICANO DE ROBÓTICA (SBR/LARS), 14. , 2022, São Bernardo do Campo/SP. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2022 . p. 109-120. DOI: