OA-SLAM: Leveraging Objects for Camera Relocalization in Visual SLAM. (arXiv:2209.08338v1 [cs.CV])

In this work, we explore the use of objects in Simultaneous Localization and
Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More
precisely, we show that, compared to low-level points, the major benefit of
objects lies in their higher-level semantic and discriminating power. Points,
on the contrary, have a better spatial localization accuracy than the generic
coarse models used to represent objects (cuboid or ellipsoid). We show that
combining points and objects is of great interest to address …

arxiv objects slam visual slam