{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/ucoslam-simultaneous-localization-and-mapping","title":"UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers","arxiv_id":"1902.03729","date":"2019-02-11","proceeding":null,"authors":["Rafael Munoz-Salinas","Rafael Medina-Carnicer"],"abstract":"This paper proposes a novel approach for Simultaneous Localization and\nMapping by fusing natural and artificial landmarks. Most of the SLAM approaches\nuse natural landmarks (such as keypoints). However, they are unstable over\ntime, repetitive in many cases or insufficient for a robust tracking (e.g. in\nindoor buildings). On the other hand, other approaches have employed artificial\nlandmarks (such as squared fiducial markers) placed in the environment to help\ntracking and relocalization. We propose a method that integrates both\napproaches in order to achieve long-term robust tracking in many scenarios.\n  Our method has been compared to the start-of-the-art methods ORB-SLAM2 and\nLDSO in the public dataset Kitti, Euroc-MAV, TUM and SPM, obtaining better\nprecision, robustness and speed. Our tests also show that the combination of\nmarkers and keypoints achieves better accuracy than each one of them\nindependently.","url_abs":"http://arxiv.org/abs/1902.03729v1","url_pdf":"http://arxiv.org/pdf/1902.03729v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"ucoslam-simultaneous-localization-and-mapping","repo_url":"https://github.com/rmsalinas/LDSO","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"}],"methods":[{"method_slug":"orb-slam2","method_name":"ORB-SLAM2"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}