S3LAM: Structured Scene SLAM

09/15/2021
by   Mathieu Gonzalez, et al.
0

We propose a new general SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution is threefold: i) A new SLAM system based on ORB-SLAM2 that creates a semantic map made of clusters of points corresponding to objects instances and structures in the scene. ii) A modification of the classical Bundle Adjustment formulation to constrain each cluster using geometrical priors, which improves both camera localization and reconstruction and enables a better understanding of the scene. iii) A new Bundle Adjustment formulation at the level of clusters to improve the convergence of classical Bundle Adjustment. We evaluate our approach on several sequences from a public dataset and show that, with respect to ORB-SLAM2 it improves camera pose estimation.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
02/24/2022

TwistSLAM: Constrained SLAM in Dynamic Environment

Moving objects are present in most scenes of our life. However they can ...
research
09/16/2022

TwistSLAM++: Fusing multiple modalities for accurate dynamic semantic SLAM

Most classical SLAM systems rely on the static scene assumption, which l...
research
09/16/2021

Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM

Recent Semantic SLAM methods combine classical geometry-based estimation...
research
02/03/2023

vMAP: Vectorised Object Mapping for Neural Field SLAM

We present vMAP, an object-level dense SLAM system using neural field re...
research
06/17/2019

Semi-Supervised Semantic Mapping through Label Propagation with Semantic Texture Meshes

Scene understanding is an important capability for robots acting in unst...
research
08/02/2020

Stochastic Bundle Adjustment for Efficient and Scalable 3D Reconstruction

Current bundle adjustment solvers such as the Levenberg-Marquardt (LM) a...
research
10/19/2020

SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes

Conventional SLAM techniques strongly rely on scene rigidity to solve da...

Please sign up or login with your details

Forgot password? Click here to reset