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Conference Papers Year : 2022

S3LAM: Structured Scene SLAM


We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution is twofold: i) A new SLAM system based on ORB-SLAM2 that creates a semantic map made of clusters of points corresponding to objects instances and structures in the scene. ii) A modification of the classical Bundle Adjustment formulation to constrain each cluster using geometrical priors, which improves both camera localization and reconstruction and enables a better understanding of the scene. We evaluate our approach on sequences from several public datasets and show that it improves camera pose estimation with respect to state of the art.
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Dates and versions

hal-03718328 , version 1 (08-07-2022)


  • HAL Id : hal-03718328 , version 1


Mathieu Gonzalez, Eric Marchand, Amine Kacete, Jerome Royan. S3LAM: Structured Scene SLAM. IROS 2022 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. pp.1-7. ⟨hal-03718328⟩
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