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An Online Semantic Mapping System for Extending and Enhancing Visual SLAM. (arXiv:2203.03944v1 [cs.RO])
March 9, 2022, 2:10 a.m. | Thorsten Hempel, Ayoub Al-Hamadi
cs.CV updates on arXiv.org arxiv.org
We present a real-time semantic mapping approach for mobile vision systems
with a 2D to 3D object detection pipeline and rapid data association for
generated landmarks. Besides the semantic map enrichment the associated
detections are further introduced as semantic constraints into a simultaneous
localization and mapping (SLAM) system for pose correction purposes. This way,
we are able generate additional meaningful information that allows to achieve
higher-level tasks, while simultaneously leveraging the view-invariance of
object detections to improve the accuracy and …
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