Papers Object SLAM
“Object SLAM” 태그가 달린 논문 18편 · 필터 해제
MCOO-SLAM: A Multi-Camera Omnidirectional Object SLAM System
Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most existing approaches rely on RGB-D sensors…
ObjectObject SLAMDQO-MAP: Dual Quadrics Multi-Object mapping with Gaussian Splatting
Accurate object perception is essential for robotic applications such as object navigation. In this paper, we propose DQO-MAP, a novel object-SLAM system that seamlessly integrates object pose estimation and reconstructi…
Computational EfficiencyCPUGPUManagement+4TextSLAM: Visual SLAM with Semantic Planar Text Features
We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar…
Mixed RealityObject SLAMScene UnderstandingSemantic SLAMAn Object SLAM Framework for Association, Mapping, and High-Level Tasks
Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently…
Decision MakingObjectObject SLAMVocal Bursts Intensity PredictionNeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects
We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embe…
ObjectObject SLAMAmbiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation
6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty un…
6D Pose Estimation using RGBObjectObject SLAMPose Estimation+2SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints
Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM…
ObjectObject SLAMSimultaneous Localization and MappingDSP-SLAM: Object Oriented SLAM with Deep Shape Priors
We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the…
3D Object ReconstructionObjectObject SLAMSemantic SLAM+1Object SLAM-Based Active Mapping and Robotic Grasping
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object …
ObjectObject SLAMPose EstimationRobotic GraspingCompositional Scalable Object SLAM
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured an…
ObjectObject SLAMSimultaneous Localization and MappingEAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate str…
ObjectObject SLAMPose EstimationSemantic SLAMTextSLAM: Visual SLAM with Planar Text Features
We propose to integrate text objects in man-made scenes tightly into the visual SLAM pipeline. The key idea of our novel text-based visual SLAM is to treat each detected text as a planar feature which is rich of textures…
Object SLAMScene UnderstandingSemantic SLAMMID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM
We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously est…
CPUInstance SegmentationObjectObject SLAM+2CubeSLAM: Monocular 3D Object SLAM
We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image obje…
3D Object DetectionCamera Pose EstimationObjectobject-detection+3MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects
We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and ass…
ObjectObject RecognitionObject SLAMSegmentation+3Constructing Category-Specific Models for Monocular Object-SLAM
We present a new paradigm for real-time object-oriented SLAM with a monocular camera. Contrary to previous approaches, that rely on object-level models, we construct category-level models from CAD collections which are n…
ObjectObject SLAMRetrievalCo-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracki…
Instance SegmentationObjectObject SLAMSemantic SLAM+1Real-time Monocular Object SLAM
We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to i…
ObjectObject RecognitionObject SLAM