Real-time monocular object SLAM
Gálvel-López, Dorian ; Salas, Marta ; Tardos Solano, Juan Domingo (Universidad de Zaragoza) ; Martínez Montiel, José María (Universidad de Zaragoza)
Resumen: 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.
Idioma: Inglés
DOI: 10.1016/j.robot.2015.08.009
Año: 2016
Publicado en: ROBOTICS AND AUTONOMOUS SYSTEMS 75, Part B (2016), 435-449
ISSN: 0921-8890
Factor impacto JCR: 1.95 (2016)
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 28 / 60 = 0.467 (2016) - Q2 - T2
Categ. JCR: ROBOTICS rank: 14 / 26 = 0.538 (2016) - Q3 - T2
Categ. JCR: COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE rank: 60 / 133 = 0.451 (2016) - Q2 - T2
Factor impacto SCIMAGO: 0.928 - Computer Science Applications (Q1) - Software (Q1) - Mathematics (miscellaneous) (Q1) - Control and Systems Engineering (Q1)
Financiación: info:eu-repo/grantAgreement/ES/DGA/T04
Financiación: info:eu-repo/grantAgreement/EC/FP7/248942/EU/RoboEarth: robots sharing a knowledge base for world modelling and learning of actions/RoboEarth
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2012-36070
Tipo y forma: Article (PrePrint)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not use the material for commercial purposes. If you remix, transform, or build upon the material, you may not distribute the modified material.
Exportado de SIDERAL (2020-02-21-13:32:31)
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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.
Idioma: Inglés
DOI: 10.1016/j.robot.2015.08.009
Año: 2016
Publicado en: ROBOTICS AND AUTONOMOUS SYSTEMS 75, Part B (2016), 435-449
ISSN: 0921-8890
Factor impacto JCR: 1.95 (2016)
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 28 / 60 = 0.467 (2016) - Q2 - T2
Categ. JCR: ROBOTICS rank: 14 / 26 = 0.538 (2016) - Q3 - T2
Categ. JCR: COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE rank: 60 / 133 = 0.451 (2016) - Q2 - T2
Factor impacto SCIMAGO: 0.928 - Computer Science Applications (Q1) - Software (Q1) - Mathematics (miscellaneous) (Q1) - Control and Systems Engineering (Q1)
Financiación: info:eu-repo/grantAgreement/ES/DGA/T04
Financiación: info:eu-repo/grantAgreement/EC/FP7/248942/EU/RoboEarth: robots sharing a knowledge base for world modelling and learning of actions/RoboEarth
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2012-36070
Tipo y forma: Article (PrePrint)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not use the material for commercial purposes. If you remix, transform, or build upon the material, you may not distribute the modified material. Exportado de SIDERAL (2020-02-21-13:32:31)
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Record created 2017-07-13, last modified 2020-02-21