Robust Improvement in 3D Object Landmark Inference for Semantic Mapping
Xubin Lin Yirui Yang Li He Weinan Chen Yisheng Guan Hong Zhang Xubin Lin Yirui Yang Li He Weinan Chen Yisheng Guan Hong Zhang
Recent works on semantic Simultaneous Localization and Mapping (SLAM) utilizing object landmarks have shown superiority in terms of robustness and accuracy in tracking and localization. 3D object landmarks represented by a cubic or quadric surface are inferred from 2D object bounding boxes which are typically captured from multiple views by an object detector. Nevertheless, bounding box noises and...