EAO-SLAM：アンサンブルデータ関連付けに基づく単眼半高密度物体SLAM
EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
パラメトリックとノンパラメトリックな統計検定を統合したアンサンブルデータ関連付け手法とロバストな物体姿勢推定を提案し、単眼カメラで半高密度な物体指向マップを生成するSLAMシステムを構築した論文。
著者: Yanmin Wu, Yunzhou Zhang, Delong Zhu, Yonghui Feng, Sonya Coleman, Dermot Kerr
分類: cs.RO, cs.CV
原文アブストラクト
Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for integrating the parametric and nonparametric statistic tests. By exploiting the nature of different statistics, our method can effectively aggregate the information of different measurements, and thus significantly improve the robustness and accuracy of data association. We then present an accurate object pose estimation framework, in which an outliers-robust centroid and scale estimation algorithm and an object pose initialization algorithm are developed to help improve the optimality of pose estimation results. Furthermore, we build a SLAM system that can generate semi-dense or lightweight object-oriented maps with a monocular camera. Extensive experiments are conducted on three publicly available datasets and a real scenario. The results show that our approach significantly outperforms state-of-the-art techniques in accuracy and robustness. The source code is available on: https://github.com/yanmin-wu/EAO-SLAM.
