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Structure Aware SLAM Using Quadrics and Planes

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Computer Vision – ACCV 2018 (ACCV 2018)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 11363))

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Abstract

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art object detection methods provide rich information about entities present in the scene from a single image. This work marries the two and proposes a method for representing generic objects as quadrics which allows object detections to be seamlessly integrated in a SLAM framework. For scene coverage, additional dominant planar structures are modeled as infinite planes. Experiments show that the proposed points-planes-quadrics representation can easily incorporate Manhattan and object affordance constraints, greatly improving camera localization and leading to semantically meaningful maps.

Supported by the ARC Fellowship FL130100102 to IR and the ACRV CE140100016.

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Notes

  1. 1.

    Comparison for RMSE of relative errors, RTE and RRE, as well as run-time analysis are reported in the supplementary material.

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Author information

Authors and Affiliations

  1. The University of Adelaide, Adelaide, Australia

    Mehdi Hosseinzadeh, Yasir Latif & Ian Reid

  2. Queensland University of Technology, Brisbane, Australia

    Niko Suenderhauf

  3. Australian Centre for Robotic Vision, Brisbane, Australia

    Mehdi Hosseinzadeh, Yasir Latif, Niko Suenderhauf & Ian Reid

  4. NVIDIA, Santa Clara, CA, 95051, USA

    Trung Pham

Authors
  1. Mehdi Hosseinzadeh
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  2. Yasir Latif
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  3. Trung Pham
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  4. Niko Suenderhauf
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  5. Ian Reid
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Corresponding author

Correspondence to Mehdi Hosseinzadeh .

Editor information

Editors and Affiliations

  1. IIIT Hyderabad, Hyderabad, India

    C. V. Jawahar

  2. ANU, Canberra, ACT, Australia

    Hongdong Li

  3. Simon Fraser University, Burnaby, BC, Canada

    Greg Mori

  4. ETH Zurich, Zurich, Zürich, Switzerland

    Konrad Schindler

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Supplementary material 1 (mp4 39976 KB)

Supplementary material 2 (pdf 4841 KB)

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Hosseinzadeh, M., Latif, Y., Pham, T., Suenderhauf, N., Reid, I. (2019). Structure Aware SLAM Using Quadrics and Planes. In: Jawahar, C., Li, H., Mori, G., Schindler, K. (eds) Computer Vision – ACCV 2018. ACCV 2018. Lecture Notes in Computer Science(), vol 11363. Springer, Cham. https://doi.org/10.1007/978-3-030-20893-6_26

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  • DOI: https://doi.org/10.1007/978-3-030-20893-6_26

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