Robust Object-based SLAM for High-speed Autonomous Navigation

Robust Object-based SLAM for High-speed Autonomous Navigation

We present Robust Object-based SLAM for High-speed Autonomous Navigation (ROSHAN), a novel approach to object-level mapping suitable for autonomous navigation. In ROSHAN, we represent objects as ellipsoids and infer their parameters using three sources of information - bounding box detections, image...

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Bibliographic Details
Main Authors: Ok, Kyel (Author), Liu, Katherine Y (Author), Frey, Kristoffer M. (Kristoffer Martin) (Author), How, Jonathan P (Author), Roy, Nicholas (Author)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2021-03-01T16:34:55Z.
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