Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstruction. (arXiv:2108.04281v2 [cs.CV] UPDATED)

This paper presents a semantic planar SLAM system that improves pose
estimation and mapping using cues from an instance planar segmentation network.
While the mainstream approaches are using RGB-D sensors, employing a monocular
camera with such a system still faces challenges such as robust data
association and precise geometric model fitting. In the majority of existing
work, geometric model estimation problems such as homography estimation and
piece-wise planar reconstruction (PPR) are usually solved by standard (greedy)
RANSAC separately and sequentially. …

arxiv cv graph slam visual slam