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Aug, 2021
DSP-SLAM:基于深度外形先验的面向对象SLAM
DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
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Jingwen Wang, Martin Rünz, Lourdes Agapito
TL;DR
DSP-SLAM是一种面向对象的SLAM系统,通过语义实例分割检测物体并使用特定于类别的深度形状嵌入来估计其姿态和形状,从而实现丰富和准确的3D物体建图,能够在单目、双目或双目+LiDAR输入模式下以接近帧率的速度处理图像序列,并在KITTI轨迹数据集上显示其在姿态和形状重构方面的显著改善。
Abstract
We propose
dsp-slam
, an
object-oriented
SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background.
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