Object-based SLAM utilizing unambiguous pose parameters considering general symmetry types
Taekbeom Lee,Youngseok Jang,H. Jin Kim,Taekbeom Lee,Youngseok Jang,H. Jin Kim
Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping (SLAM). This work proposes a system for robustly optimizing the pose of cameras and objects even in the presence of symmetric objects. We classify objects into three categories depending on their symmetry characteristics, which is effi...
