ObjectMatch: leverages object semantics to find indirect correspondences between frames

[https://cangumeli.github.io/ObjectMatch/](https://cangumeli.github.io/ObjectMatch/)

[https://www.youtube.com/watch?v=kuXoKVrzURk](https://www.youtube.com/watch?v=kuXoKVrzURk)

By [Can Gümeli](https://www.niessnerlab.org/members/can_guemeli/profile.html), [Angela Dai](https://www.3dunderstanding.org/), [Matthias Nießner](https://www.niessnerlab.org/) Technical University of Munich

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https://preview.redd.it/nuuzwwif6ota1.jpg?width=2150&format=pjpg&auto=webp&v=enabled&s=73c247f6e09910f0f7dbc9fb7cc687a53ee32dec

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>We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera frames with little or no overlap. In this work, we propose to leverage indirect correspondences obtained via semantic object identification. For instance, when an object is seen from the front in one …

canonical computervision constraints identification network neural network pipelines pixel semantic semantics slam work