SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints.
Ziwei LiaoYutong HuJiadong ZhangXianyu QiXiaoyu ZhangWei WangPublished in: CoRR (2021)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- visual slam
- monocular slam
- indoor environments
- object and scene recognition
- mobile robotics
- d objects
- particle filter
- semantic constraints
- object tracking
- data association
- loop closing
- real world scenes
- object contours
- multiple scales
- texture classification
- real time
- image structure
- texture analysis
- kalman filter
- image regions
- gray level
- gabor filters
- texture images
- bundle adjustment
- partial occlusion
- keypoints
- image representation
- dynamic environments
- scale space
- object recognition