QuadricSLAM: Dual quadrics from object detections as landmarks in object-oriented SLAM
Nicholson, Lachlan, Milford, Michael, & Suenderhauf, Niko (2019) QuadricSLAM: Dual quadrics from object detections as landmarks in object-oriented SLAM. IEEE Robotics and Automation Letters, 4(1), Article number: 8440105 1-8.
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33443485. |
Description
In this letter, we use two-dimensional (2-D) object detections from multiple views to simultaneously estimate a 3-D quadric surface for each object and localize the camera position. We derive a simultaneous localization and mapping (SLAM) formulation that uses dual quadrics as 3-D landmark representations, exploiting their ability to compactly represent the size, position and orientation of an object, and show how 2-D object detections can directly constrain the quadric parameters via a novel geometric error formulation. We develop a sensor model for object detectors that addresses the challenge of partially visible objects, and demonstrate how to jointly estimate the camera pose and constrained dual quadric parameters in factor graph based SLAM with a general perspective camera.
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| ID Code: | 124209 | ||||
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| Item Type: | Contribution to Journal (Journal Article) | ||||
| Refereed: | Yes | ||||
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| Measurements or Duration: | 8 pages | ||||
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| DOI: | 10.1109/LRA.2018.2866205 | ||||
| ISSN: | 2377-3766 | ||||
| Pure ID: | 33443485 | ||||
| Divisions: | Past > Institutes > Institute for Future Environments Past > QUT Faculties & Divisions > Science & Engineering Faculty |
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| Copyright Owner: | 2018 IEEE | ||||
| Copyright Statement: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | ||||
| Deposited On: | 10 Jan 2019 11:39 | ||||
| Last Modified: | 07 Jun 2026 19:55 |
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