Compositional and Scalable Object SLAM
Akash Sharma Wei Dong Michael Kaess Akash Sharma Wei Dong Michael Kaess
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by recognizable objects, we show that a compositional and scalable object mapping formulation is amenable to a robust SLAM solution for drift-free large-scale indoor rec...