• Simultaneous Localization and Mapping with Learned Object Recognition and Semantic Data Association 

      Rogers, John G.; Trevor, Alexander J.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      Complex and structured landmarks like objects have many advantages over low-level image features for semantic mapping. Low level features such as image corners suffer from occlusion boundaries, ambiguous data association, ...