Geometric Factors for Object-Oriented SLAM
Current approaches to object-oriented SLAM (such as QuadricSLAM) lack the ability to incorporate prior knowledge of the scene geometry, such as the expected global orientation of objects.
We overcome this limitation by proposing a geometric factor that constrains the global orientation of objects in the map, depending on the objects’ semantics. This new geometric factor is a first example of how semantics can inform and improve geometry in object-oriented SLAM.
- An Orientation Factor for Object-Oriented SLAM, Natalie Jablonsky, Michael Milford, Niko Sünderhauf, arXiv preprint, 2018.