Exploiting Semantic and Public Prior Information in MonoSLAM
Chenxi Ye,Yiduo Wang,Ziwen Lu,Igor Gilitschenski,Martin Parsley,Simon J. Julier,Chenxi Ye,Yiduo Wang,Ziwen Lu,Igor Gilitschenski,Martin Parsley,Simon J. Julier
In this paper, we propose a method to use semantic information to improve the use of map priors in a sparse, feature-based MonoSLAM system. To incorporate the priors, the features in the prior and SLAM maps must be associated with one another. Most existing systems build a map using SLAM and then align it with the prior map. However, this approach assumes that the local map is accurate, and the ma...
