Convex Hull-based Algebraic Constraint for Visual Quadric SLAM

• URL: http://arxiv.org/abs/2503.01254v1
• Date: Mon, 03 Mar 2025 07:30:07 GMT
• Title: Convex Hull-based Algebraic Constraint for Visual Quadric SLAM
• Authors: Xiaolong Yu, Junqiao Zhao, Shuangfu Song, Zhongyang Zhu, Zihan Yuan, Chen Ye, Tiantian Feng,
• Abstract summary: Using quadrics as the object representation has the benefits of both generality closed-form projection between image and world spaces.<n>Although numerous have been proposed for dualc reconstruction, we found that many of them are imprecise and provide minimal improvements to localization.<n>We introduce a concise yet more precise convex hull-based constraint for object landmarks.<n>Experiments on public datasets demonstrate that our approach is applicable to both monocular and RGB-D SLAM.
• Score: 9.855936120653995
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Using Quadrics as the object representation has the benefits of both generality and closed-form projection derivation between image and world spaces. Although numerous constraints have been proposed for dual quadric reconstruction, we found that many of them are imprecise and provide minimal improvements to localization.After scrutinizing the existing constraints, we introduce a concise yet more precise convex hull-based algebraic constraint for object landmarks, which is applied to object reconstruction, frontend pose estimation, and backend bundle adjustment.This constraint is designed to fully leverage precise semantic segmentation, effectively mitigating mismatches between complex-shaped object contours and dual quadrics.Experiments on public datasets demonstrate that our approach is applicable to both monocular and RGB-D SLAM and achieves improved object mapping and localization than existing quadric SLAM methods. The implementation of our method is available at https://github.com/tiev-tongji/convexhull-based-algebraic-constraint.

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