Visual-Inertial Object Detection and Mapping

ECCV 2018 Xiaohan FeiStefano Soatto

We present a method to populate an unknown environment with models of previously seen objects, placed in a Euclidean reference frame that is inferred causally and on-line using monocular video along with inertial sensors. The system we implement returns a sparse point cloud for the regions of the scene that are visible but not recognized as a previously seen object, and a detailed object model and its pose in the Euclidean frame otherwise... (read more)

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