BEV-SLAM: Building a Globally-Consistent World Map Using Monocular Vision
James Ross,Oscar Mendez,Avishkar Saha,Mark Johnson,Richard Bowden,James Ross,Oscar Mendez,Avishkar Saha,Mark Johnson,Richard Bowden
The ability to produce large-scale maps for nav-igation, path planning and other tasks is a crucial step for autonomous agents, but has always been challenging. In this work, we introduce BEV-SLAM, a novel type of graph-based SLAM that aligns semantically-segmented Bird's Eye View (BEV) predictions from monocular cameras. We introduce a novel form of occlusion reasoning into BEV estimation and dem...
