Constructing Category-Specific Models for Monocular Object-SLAM
This addresses the need for robust monocular SLAM in AR and robotics by reducing reliance on labeled data and handling diverse objects within categories, though it is incremental in building on existing SLAM frameworks.
The paper tackles the problem of real-time object-oriented SLAM with a monocular camera by constructing category-level models from CAD collections, enabling instance-independent object shape estimation and improved performance in feature-scarce scenarios, showing benefits over feature-based SLAM methods.
We present a new paradigm for real-time object-oriented SLAM with a monocular camera. Contrary to previous approaches, that rely on object-level models, we construct category-level models from CAD collections which are now widely available. To alleviate the need for huge amounts of labeled data, we develop a rendering pipeline that enables synthesis of large datasets from a limited amount of manually labeled data. Using data thus synthesized, we learn category-level models for object deformations in 3D, as well as discriminative object features in 2D. 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. Where typical object-SLAM approaches usually solve only for object and camera poses, we also estimate object shape on-the-fly, allowing for a wide range of objects from the category to be present in the scene. Moreover, since our 2D object features are learned discriminatively, the proposed object-SLAM system succeeds in several scenarios where sparse feature-based monocular SLAM fails due to insufficient features or parallax. Also, the proposed category-models help in object instance retrieval, useful for Augmented Reality (AR) applications. We evaluate the proposed framework on multiple challenging real-world scenes and show --- to the best of our knowledge --- first results of an instance-independent monocular object-SLAM system and the benefits it enjoys over feature-based SLAM methods.