Probabilistic Global Scale Estimation for MonoSLAM Based on Generic Object Detection

Preprint English OPEN
Sucar, Edgar; Hayet, Jean-Bernard;
(2017)
  • Subject: Computer Science - Computer Vision and Pattern Recognition
    acm: ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION

This paper proposes a novel method to estimate the global scale of a 3D reconstructed model within a Kalman filtering-based monocular SLAM algorithm. Our Bayesian framework integrates height priors over the detected objects belonging to a set of broad predefined classes... View more
  • References (18)
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