Complete monocular Visual SLAM system that creates maps of points and 3D objects.
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Novel SLAM back-end formulation optimizes map points, object poses and map scale.
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Novel object detection algorithm manages large-scale object databases in real time.
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SLAM and object detection work together to enhance mapping and object recognition.
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Accuracy results outperform other state-of-the-art RGB and RGB-D SLAM approaches.
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