In this paper, we present a structure SLAM system with feature points, geometry planes, and semantic objects. Unlike other systems modeling planes and objects as collections of points, we choose a parametric representation for these landmarks. For every single frame, we start by generating cuboid...
结果显示对于大多数对象,3D约束的引入提高了3D 对象 IoU 性能,并且检测到的3D IoU比CubeSLAM方法更高 2.点-面-对象SLAM系统 作者认为改进来自两个方面:(1)具有主导方向的平面检测有助于更好的姿态估计,因为点SLAM到点面SLAM有明显改进(2) 严格的异常值剔除方法确保了稳健的数据关联,不同地标之间的约束得到了可...
The planes, points and camera poses are then jointly optimized to give consistent result. 2 Related Work Many works have explored the idea of using structures in SLAM. Information can be as high level as objects [23], or as simple as planes or lines. It is easier to extract geometry ...
Many works have explored the idea of using structures in SLAM. Information can be as high level as objects [23], or as simple as planes or lines. It is easier to extract geometry structure from depth sensors, like RGB-D camera [10,11,24]. For monocular images, extra effort must be p...
A Planar RGB-D SLAM which utilizes Manhattan World structure to provide optimal camera pose trajectory while also providing a sparse reconstruction containing points, lines and planes, and a dense surfel-based reconstruction. - razayunus/ManhattanSLAM
UAV photogrammetry and simultaneous localization and mapping (SLAM) laser scanning can collect data in a variety of large and complex environments to monitor and analyze complex environments [23]. The 3D model is often used for detection [24], precise navigation [25], and object recognition such...
each structure module 6 can be folded and unfolded within the planes which are perpendicular to the polygonal plane, that is, the peripheral surfaces of the structure module 6. Thus, since the area which is occupied by the horizontal frame members 7b when the expandable antenna is folded is ...
A cell element field for data processing, having function cell means for execution of algebraic and/or logic functions and memory cell means for receiving, storing and/or outputting information is described. Function cell-memory cell combinations are formed in which a control connection leads from ...
Discovering higher level structure in visual SLAM - Gee, Chekhlov, et al. - 2008 () Citation Context ...lanes, e.g., walls, floors, and various man-made planar objects. Thus, there have been several attempts to discover higher-level structures such as lines and planes from the estimated...
M. Hosseinzadeh, Y. Latif, T. Pham, N. Suenderhauf, and I. Reid, "Structure Aware SLAM using Quadrics and Planes," arXiv preprint arXiv:1804.09111, 2018.Mehdi Hosseinzadeh, Yasir Latif, Trung Pham, Niko Suenderhauf, and Ian Reid. Towards semantic slam: Points, planes and objects. ...