• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Computational Perception & Robotics
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Computational Perception & Robotics
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    SLAM with Object Discovery, Modeling and Mapping

    Thumbnail
    View/Open
    Choudhary14iros.pdf (5.657Mb)
    Date
    2014-09
    Author
    Choudhary, Siddharth
    Trevor, Alexander J. B.
    Christensen, Henrik I.
    Dellaert, Frank
    Metadata
    Show full item record
    Abstract
    Object discovery and modeling have been widely studied in the computer vision and robotics communities. SLAM approaches that make use of objects and higher level features have also recently been proposed. Using higher level features provides several benefits: these can be more discriminative, which helps data association, and can serve to inform service robotic tasks that require higher level information, such as object models and poses. We propose an approach for online object discovery and object modeling, and extend a SLAM system to utilize these discovered and modeled objects as landmarks to help localize the robot in an online manner. Such landmarks are particularly useful for detecting loop closures in larger maps. In addition to the map, our system outputs a database of detected object models for use in future SLAM or service robotic tasks. Experimental results are presented to demonstrate the approach’s ability to detect and model objects, as well as to improve SLAM results by detecting loop closures.
    URI
    http://hdl.handle.net/1853/53723
    Collections
    • Computational Perception & Robotics [213]
    • Computational Perception & Robotics Publications [213]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology