Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes
Binbin Xu,Andrew J. Davison,Stefan Leutenegger,Binbin Xu,Andrew J. Davison,Stefan Leutenegger
In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions from depth inputs and a category-level shape prior with the aim that completed object geometry leads to better object reconstruction and tracking accuracy. For ea...
