cvpr cvpr2013 cvpr2013-231 cvpr2013-231-reference knowledge-graph by maker-knowledge-mining
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Author: Nicola Fioraio, Luigi Di_Stefano
Abstract: In this paper we propose a novel Semantic Bundle Adjustmentframework whereby known rigid stationary objects are detected while tracking the camera and mapping the environment. The system builds on established tracking and mapping techniques to exploit incremental 3D reconstruction in order to validate hypotheses on the presence and pose of sought objects. Then, detected objects are explicitly taken into account for a global semantic optimization of both camera and object poses. Thus, unlike all systems proposed so far, our approach allows for solving jointly the detection and SLAM problems, so as to achieve object detection together with improved SLAM accuracy.
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