Method for Robust Updating Awareness Map against Occlusion in Dynamic Environments

Abstract

The previous study has proposed a system for estimating a user’s field of view by an RGB-D camera and making a map of the his/her awareness on the assumption that he/she recognizes objects in his/her view. Furthermore, the system has been improved to be able to update the awareness map correctly even if objects on the maps move. However, the previous system cannot update the maps when the moving objects are occluded from the camera. In this study, we propose a system that can update the awareness map robustly against occlusions by tracking a moving object using color and depth information.