Web: http://arxiv.org/abs/2209.08338

Sept. 20, 2022, 1:12 a.m. | Matthieu Zins, Gilles Simon, Marie-Odile Berger

cs.CV updates on arXiv.org arxiv.org

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

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