Making Parameterization and Constrains of Object Landmark Globally Consistent via SPD(3) Manifold and Improved Cost Functions

04/22/2022
by   Yutong Hu, et al.
0

Object-level SLAM introduces semantic meaningful and compact object landmarks that help both indoor robot applications and outdoor autonomous driving tasks. However, the back end of object-level SLAM suffers from singularity problems because existing methods parameterize object landmark separately by their scales and poses. Under that parameterization method, the same abstract object can be represented by rotating the object coordinate frame by 90 deg and swapping its length with width value, making the pose of the same object landmark not globally consistent. To avoid the singularity problem, we first introduce the symmetric positive-definite (SPD) matrix manifold as an improved object-level landmark representation and further improve the cost functions in the back end to make them compatible with the representation. Our method demonstrates a faster convergence rate and more robustness in simulation experiments. Experiments on real datasets also reveal that using the same front-end data, our strategy improves the mapping accuracy by 22

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

page 6

page 7

page 8

research
08/03/2021

A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM

In object-based Simultaneous Localization and Mapping (SLAM), 6D object ...
research
10/18/2021

Accurate and Robust Object-oriented SLAM with 3D Quadric Landmark Construction in Outdoor Environment

Object-oriented SLAM is a popular technology in autonomous driving and r...
research
12/21/2020

Accurate Object Association and Pose Updating for Semantic SLAM

Nowadays in the field of semantic SLAM, how to correctly use semantic in...
research
07/20/2021

Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM

Objects could often have multiple probable poses in single-shot measurem...
research
08/20/2021

Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics

In Simultaneous Localization And Mapping (SLAM) problems, high-level lan...
research
01/24/2018

UAV Visual Teach and Repeat Using Only Semantic Object Features

We demonstrate the use of semantic object detections as robust features ...
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