RGB-D Object SLAM Using Quadrics for Indoor Environments

RGB-D Object SLAM Using Quadrics for Indoor Environments

Indoor service robots need to build an object-centric semantic map to understand and execute human instructions. Conventional visual simultaneous localization and mapping (SLAM) systems build a map using geometric features such as points, lines, and planes as landmarks. However, they lack a semantic...

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Bibliographic Details
Main Authors: Ziwei Liao, Wei Wang, Xianyu Qi, Xiaoyu Zhang
Format: Article
Language:English
Published: MDPI AG 2020-09-01
Series:Sensors
Subjects:
semantic SLAM
object SLAM
quadrics
RGB-D
mobile robots
data association
Online Access:https://www.mdpi.com/1424-8220/20/18/5150

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