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In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major be...
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This paper describes an integrated system for building a multiplanar model of the scene as the camera is localized on the fly. The core of this system is a robust and accurate procedure for detecting the intersection lin...