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https://hdl.handle.net/2440/122928
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Type: | Conference paper |
Title: | Structure aware SLAM using quadrics and planes |
Author: | Hosseinzadeh, M. Latif, Y. Pham, T. Suenderhauf, N. Reid, I. |
Citation: | Lecture Notes in Artificial Intelligence, 2019 / Jawahar, C.V., Li, H., Mori, G., Schindler, K. (ed./s), vol.11363, pp.410-426 |
Publisher: | Springer |
Publisher Place: | Switzerlaned |
Issue Date: | 2019 |
Series/Report no.: | Lecture Notes in Computer Science ; 11363 |
ISBN: | 9783030208929 |
ISSN: | 0302-9743 1611-3349 |
Conference Name: | Asian Conference on Computer Vision (ACCV) (2 Dec 2018 - 6 Dec 2018 : Perth, Australia) |
Editor: | Jawahar, C.V. Li, H. Mori, G. Schindler, K. |
Statement of Responsibility: | Mehdi Hosseinzadeh, Yasir Latif, Trung Pham, Niko Suenderhauf, and Ian Reid |
Abstract: | 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 object detection methods provide rich information about entities present in the scene from a single image. This work marries the two and proposes a method for representing generic objects as quadrics which allows object detections to be seamlessly integrated in a SLAM framework. For scene coverage, additional dominant planar structures are modeled as infinite planes. Experiments show that the proposed points-planes-quadrics representation can easily incorporate Manhattan and object affordance constraints, greatly improving camera localization and leading to semantically meaningful maps. |
Keywords: | Visual semantic SLAM; Object SLAM; Planes; Quadrics |
Rights: | © Springer Nature Switzerland AG 2019 |
DOI: | 10.1007/978-3-030-20893-6_26 |
Grant ID: | http://purl.org/au-research/grants/arc/FL130100102 http://purl.org/au-research/grants/arc/CE140100016 |
Published version: | https://link.springer.com/book/10.1007/978-3-030-20893-6 |
Appears in Collections: | Aurora harvest 8 Computer Science publications |
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