Related papers: Convex Hull-based Algebraic Constraint for Visual …
In this paper, we use 2D object detections from multiple views to simultaneously estimate a 3D quadric surface for each object and localize the camera position. We derive a SLAM formulation that uses dual quadrics as 3D landmark…
Current approaches to object-oriented SLAM lack the ability to incorporate prior knowledge of the scene geometry, such as the expected global orientation of objects. We overcome this limitation by proposing a geometric factor that…
Research in Simultaneous Localization And Mapping (SLAM) is increasingly moving towards richer world representations involving objects and high level features that enable a semantic model of the world for robots, potentially leading to a…
Object SLAM uses additional semantic information to detect and map objects in the scene, in order to improve the system's perception and map representation capabilities. Quadrics and cubes are often used to represent objects, but their…
Object-oriented SLAM is a popular technology in autonomous driving and robotics. In this paper, we propose a stereo visual SLAM with a robust quadric landmark representation method. The system consists of four components, including deep…
Aiming at the application environment of indoor mobile robots, this paper proposes a sparse object-level SLAM algorithm based on an RGB-D camera. A quadric representation is used as a landmark to compactly model objects, including their…
The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approach based on an object-level SLAM system. To obtain the…
Convexity prior is one of the main cue for human vision and shape completion with important applications in image processing, computer vision. This paper focuses on characterization methods for convex objects and applications in image…
In this paper, we reimagine volumetric representations through the lens of quadrics. We posit that rigid scene components can be effectively decomposed into quadric surfaces. Leveraging this assumption, we reshape the volumetric…
There are many possibilities for how to represent the map in simultaneous localisation and mapping (SLAM). While sparse, keypoint-based SLAM systems have achieved impressive levels of accuracy and robustness, their maps may not be suitable…
In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmarks. In this work, we focus on the parameterization of…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art…
This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
Efficient object level representation for monocular semantic simultaneous localization and mapping (SLAM) still lacks a widely accepted solution. In this paper, we propose the use of an efficient representation, based on structural points,…
Introducing semantically meaningful objects to visual Simultaneous Localization And Mapping (SLAM) has the potential to improve both the accuracy and reliability of pose estimates, especially in challenging scenarios with significant…
Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…
In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…
This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…
Convex hulls are useful as tight bounding proxies for a variety of tasks including collision detection, ray intersection, and distance computation. Unfortunately, the complexity of polyhedral convex hulls grows linearly with their input. We…