View-Invariant Loop Closure with Oriented Semantic Landmarks
Jimmy Li,Karim Koreitem,David Meger,Gregory Dudek,Jimmy Li,Karim Koreitem,David Meger,Gregory Dudek
Recent work on semantic simultaneous localization and mapping (SLAM) have shown the utility of natural objects as landmarks for improving localization accuracy and robustness. In this paper we present a monocular semantic SLAM system that uses object identity and inter-object geometry for view-invariant loop detection and drift correction. Our system's ability to recognize an area of the scene eve...
