Additional Results for Multibody Visual SLAM

Note: The legends (Fig. 1) used here and in the accompanying video are sligtly different from figures shown in the main paper. Motion segmentation results are shown by shade in correponding color of the convex-hull formed of the feature points segmented as independently moving. Reconstructed 3D static world points are colored depending on height from the estimated ground-plane. Trajectories and structure of other moving objects are shown in some color( red/blue). Particles of the BOT filter are shown in green. The images are best viewed on screen.