{"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/visual-slam-with-graph-cut-optimized-multi","title":"Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstruction","arxiv_id":"2108.04281","date":"2021-08-09","proceeding":null,"authors":["Fangwen Shu","Yaxu Xie","Jason Rambach","Alain Pagani","Didier Stricker"],"abstract":"This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with such a system still faces challenges such as robust data association and precise geometric model fitting. In the majority of existing work, geometric model estimation problems such as homography estimation and piece-wise planar reconstruction (PPR) are usually solved by standard (greedy) RANSAC separately and sequentially. However, setting the inlier-outlier threshold is difficult in absence of information about the scene (i.e. the scale). In this work, we revisit these problems and argue that two mentioned geometric models (homographies/3D planes) can be solved by minimizing an energy function that exploits the spatial coherence, i.e. with graph-cut optimization, which also tackles the practical issue when the output of a trained CNN is inaccurate. Moreover, we propose an adaptive parameter setting strategy based on our experiments, and report a comprehensive evaluation on various open-source datasets.","url_abs":"https://arxiv.org/abs/2108.04281v2","url_pdf":"https://arxiv.org/pdf/2108.04281v2.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":"visual-slam-with-graph-cut-optimized-multi","repo_url":"https://github.com/peterfws/structure-plp-slam","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"GPL-3.0"}}],"tasks":[{"task_slug":"homography-estimation","task_name":"Homography Estimation"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}