Learn More
Extracting 3D shape of deforming objects in monocular videos, a task known as non-rigid structure-from-motion (NRSfM), has so far been studied only on synthetic datasets and controlled environments. Typically, the objects to reconstruct are pre-segmented, they exhibit limited rotations and occlusions, or full-length trajectories are assumed. In order to(More)
— In this paper we explore how a visual SLAM system and a robot knowledge base can mutually benefit from each other. The object recognition and mapping methods are used for grounding abstract knowledge and for creating a semantically annotated environment map that is available for reasoning. The knowledge base allows to reason about which object types are(More)
The vision of the RoboEarth project is to design a knowledge-based system to provide web and cloud services that can transform a simple robot into an intelligent one. In this work, we describe the RoboEarth semantic mapping system. The semantic map is composed of: 1) an ontology to code the concepts and relations in maps and objects and 2) a SLAM map(More)
We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and find its real scale, and 2) a novel object recognition algorithm based on bags of binary words, which provides live(More)
Nowadays real time visual Simultaneous Localization And Mapping (SLAM) algorithms exist and rely on consistent measurements across multiple views. In indoor environments, where majority of robot's activity takes place, severe occlusions can occur, e.g., when turning around a corner or moving from one room to another. In these situations, SLAM algorithms can(More)
  • 1