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Type: Conference paper
Title: Real-time monocular object-model aware sparse SLAM
Author: Hosseinzadeh, M.
Li, K.
Latif, Y.
Reid, I.
Citation: IEEE International Conference on Robotics and Automation, 2019 / Howard, A., Althoefer, K., Arai, F., Arrichiello, F., Caputo, B., Castellanos, J., Hauser, K., Isler, V., Kim, J., Liu, H., Oh, P., Santos, V., Scaramuzza, D., Ude, A., Voyles, R., Yamane, K., Okamura, A. (ed./s), vol.2019-May, pp.7123-7129
Publisher: IEEE
Publisher Place: Piscataway, NJ.
Issue Date: 2019
Series/Report no.: IEEE International Conference on Robotics and Automation ICRA
ISBN: 153866027X
ISSN: 1050-4729
Conference Name: IEEE International Conference on Robotics and Automation (ICRA) (20 May 2019 - 24 May 2019 : Montreal, Canada)
Editor: Howard, A.
Althoefer, K.
Arai, F.
Arrichiello, F.
Caputo, B.
Castellanos, J.
Hauser, K.
Isler, V.
Kim, J.
Liu, H.
Oh, P.
Santos, V.
Scaramuzza, D.
Ude, A.
Voyles, R.
Yamane, K.
Okamura, A.
Statement of
Mehdi Hosseinzadeh, Kejie Li, Yasir Latif, and Ian Reid
Abstract: Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse 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 incorporates a real-time deep-learned object detector to the monocular SLAM framework for representing generic objects as quadrics that permit detections to be seamlessly integrated while allowing the real-time performance. Finer reconstruction of an object, learned by a CNN network, is also incorporated and provides a shape prior for the quadric leading further refinement. To capture the dominant structure of the scene, additional planar landmarks are detected by a CNN-based plane detector and modelled as independent landmarks in the map. Extensive experiments support our proposed inclusion of semantic objects and planar structures directly in the bundle-adjustment of SLAM - Semantic SLAM - that enriches the reconstructed map semantically, while significantly improving the camera localization.
Rights: ©2019 IEEE
DOI: 10.1109/ICRA.2019.8793728
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