61824 20200221144301.0 doi 10.1016/j.robot.2015.08.009 sideral 100379 ART-2016-100379 eng (orcid)0000-0003-0225-7689 Gálvel-López, Dorian Real-time monocular object SLAM 2016 Access copy available to the general public Unrestricted 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 improve the map and find its real scale, and 2) a novel object recognition algorithm based on bags of binary words, which provides live detections with a database of 500 3D objects. The two components work together and benefit each other: the SLAM algorithm accumulates information from the observations of the objects, anchors object features to especial map landmarks and sets constrains on the optimization. At the same time, objects partially or fully located within the map are used as a prior to guide the recognition algorithm, achieving higher recall. We evaluate our proposal on five real environments showing improvements on the accuracy of the map and eficiency with respect to other state-of-the-art techniques. info:eu-repo/grantAgreement/ES/MINECO/DPI2012-36070 info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168 info:eu-repo/grantAgreement/EC/FP7/248942/EU/RoboEarth: robots sharing a knowledge base for world modelling and learning of actions/RoboEarth info:eu-repo/grantAgreement/ES/DGA/T04 info:eu-repo/semantics/openAccess by-nc-nd http://creativecommons.org/licenses/by-nc-nd/3.0/es/ 1.95 2016 AUTOMATION & CONTROL SYSTEMS 28 / 60 = 0.467 2016 Q2 T2 ROBOTICS 14 / 26 = 0.538 2016 Q3 T2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE 60 / 133 = 0.451 2016 Q2 T2 0.928 2016 Computer Science Applications 2016 Q1 Software 2016 Q1 Mathematics (miscellaneous) 2016 Q1 Control and Systems Engineering 2016 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/submittedVersion (orcid)0000-0001-8026-4388 Salas, Marta (orcid)0000-0002-4518-5876 Tardos Solano, Juan Domingo Universidad de Zaragoza (orcid)0000-0002-3627-7306 Martínez Montiel, José María Universidad de Zaragoza 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 75, Part B (2016), 435-449 Robot. auton. syst. ROBOTICS AND AUTONOMOUS SYSTEMS 0921-8890 6565505 http://zaguan.unizar.es/record/61824/files/texto_completo.pdf Preprint 8683 http://zaguan.unizar.es/record/61824/files/texto_completo.jpg?subformat=icon icon Preprint oai:zaguan.unizar.es:61824 articulos driver 2020-02-21-13:32:31 ARTICLE