NDLI: Towards semantic SLAM using a monocular camera

Content Provider	IEEE Xplore Digital Library
Author	Civera, J. Galvez-Lopez, D. Riazuelo, L. Tardos, J.D. Montiel, J.M.M.
Copyright Year	2011
Description	Author affiliation: Robotics, Perception and Real-Time Group, Aragón Institute of Engineering Research (I3A), Universidad de Zaragoza, 50018, Spain (Civera, J.; Galvez-Lopez, D.; Riazuelo, L.; Tardos, J.D.; Montiel, J.M.M.)
Abstract	Monocular SLAM systems have been mainly focused on producing geometric maps just composed of points or edges; but without any associated meaning or semantic content. In this paper, we propose a semantic SLAM algorithm that merges in the estimated map traditional meaningless points with known objects. The non-annotated map is built using only the information extracted from a monocular image sequence. The known object models are automatically computed from a sparse set of images gathered by cameras that may be different from the SLAM camera. The models include both visual appearance and tridimensional information. The semantic or annotated part of the map -the objects- are estimated using the information in the image sequence and the precomputed object models.
Starting Page	1277
Ending Page	1284
File Size	2095977
Page Count	8
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094648
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Cameras Three dimensional displays Object recognition Semantics Solid modeling
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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