An Orientation Factor for Object-Oriented SLAM

09/19/2018
by   Natalie Jablonsky, et al.
0

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 constrains the global orientation of objects in the map, depending on the objects' semantics. This new geometric factor is a first example of how semantics can inform and improve geometry in object-oriented SLAM. We implement the geometric factor for the recently proposed QuadricSLAM that represents landmarks as dual quadrics. The factor probabilistically models the quadrics' major axes to be either perpendicular to or aligned with the direction of gravity, depending on their semantic class. Our experiments on simulated and real-world datasets show that using the proposed factors to incorporate prior knowledge improves both the trajectory and landmark quality.

READ FULL TEXT

page 1

page 6

research
02/20/2020

Dynamic SLAM: The Need For Speed

The static world assumption is standard in most simultaneous localisatio...
research
04/10/2018

QuadricSLAM: Constrained Dual Quadrics from Object Detections as Landmarks in Semantic SLAM

Research in Simultaneous Localization And Mapping (SLAM) is increasingly...
research
02/10/2022

Scale Estimation with Dual Quadrics for Monocular Object SLAM

The scale ambiguity problem is inherently unsolvable to monocular SLAM w...
research
04/24/2018

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

We present MaskFusion, a real-time, object-aware, semantic and dynamic R...
research
04/11/2020

Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments

Aiming at the application environment of indoor mobile robots, this pape...
research
06/26/2022

An Efficient Global Optimality Certificate for Landmark-Based SLAM

Modern state estimation is often formulated as an optimization problem a...

Please sign up or login with your details

Forgot password? Click here to reset