Papers › ODAM: Object Detection, Association, and Mapping using Posed RGB Video
ODAM: Object Detection, Association, and Mapping using Posed RGB Video
Kejie Li, Daniel DeTone, Steven Chen, Minh Vo, Ian Reid, Hamid Rezatofighi, Chris Sweeney, Julian Straub, Richard Newcombe
Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection, Association, and Mapping using posed RGB videos. The proposed system relies on a deep learning front-end to detect 3D objects from a given RGB frame and associate them to a global object-based map using a graph neural network (GNN). Based on these frame-to-model associations, our back-end optimizes object bounding volumes, represented as super-quadrics, under multi-view geometry constraints and the object scale prior. We validate the proposed system on ScanNet where we show a significant improvement over existing RGB-only methods.
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