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Integrating Objects into Monocular SLAM: Line Based Category Specific Models
The proposed parameterization associates 3D category-specific CAD model and object under consideration using a dictionary based RANSAC method that uses object Viewpoints as prior and edges detected in the respective intensity image of the scene.
Robotics
Constructing Category-Specific Models for Monocular Object-SLAM
These category models are instance-independent and aid in the design of object landmark observations that can be incorporated into a generic monocular SLAM framework.
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