Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation
Yuhang Ming,Xingrui Yang,Andrew Calway,Yuhang Ming,Xingrui Yang,Andrew Calway
We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of appearance-based relocalisation methods using point features or images. During the map construction, we use a pre-trained neural network to detect objects and estima...
