System and method for integrating objects in monocular slam
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United States of America Patent
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Jun 6, 2023
Grant Date -
Feb 11, 2021
app pub date -
Jul 1, 2020
filing date -
Jul 2, 2019
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Abstract
The embodiments herein provide a system and method for integrating objects in monocular simultaneous localization and mapping (SLAM). State of art object SLAM approach use two popular threads. In first, instance specific models are assumed to be known a priori. In second, a general model for an object such as ellipsoids and cuboids is used. However, these generic models just give the label of the object category and do not give much information about the object pose in the map. The method and system disclosed provide a SLAM framework on a real monocular sequence wherein joint optimization is performed on object localization and edges using category level shape priors and bundle adjustment. The method provides a better visualization incorporating object representations in the scene along with the 3D structure of the base SLAM system, which makes it useful for augmented reality (AR) applications.
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Patent Owner(s)
- TATA CONSULTANCY SERVICES LIMITED
International Classification(s)
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Aggarwal, Aditya | Telangana, IN | 6 | 29 |
Bhowmick, Brojeshwar | Kolkata, IN | 42 | 104 |
Das, Dipanjan | Kolkata, IN | 18 | 108 |
Krishna, Krishnan Madhava | Telangana, IN | 1 | 0 |
Pokale, Aniket | Telangana, IN | 1 | 0 |
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