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Depth sensors have been increasingly used for object recognition in recent years. However, it is very challenging for simultaneous localization and mapping (SLAM) to make use of the forward scenes from a depth sensor. To this end, we introduce the object recognition framework for SLAM in indoor environments based on the extraction of an object-level descriptor. The proposed object-level descriptor...
In this paper, the improved upward-looking camera based SLAM is proposed. With the corner features that are highly robust to the illumination change and contain their orientation information, SLAM performance can improve effectively. The illumination properties from the image can be rejected using the retinex algorithm to make the input image less sensitive to the illumination change. In addition,...
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