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A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM

Ioannis Asmanis; Panagiotis Mermigkas; Georgia Chalvatzaki; Jan Peters; Petros Maragos
In: 19th International Conference on Ubiquitous Robots (UR). International Conference on Ubiquitous Robot (UR-2022), July 4-6, Jeju, Korea, Republic of, Pages 288-294, IEEE, 2022.


Over the last two decades, visual SLAM research has taken a turn towards using geometric structures more complex than points for describing indoor environments. At the same time, semantic information is becoming increasingly available to robotic applications, improving robots⤙ perceptive capabilities. In this work, we introduce a method for uniting these two approaches. Namely, we propose a novel mechanism for propagating semantics directly into the optimization level of an RGB-D SLAM framework. This framework internally uses unified geometric representations to jointly describe points, lines and planes. We also validate our approach with experiments on various datasets, both synthetic and real-world, with comparisons against representative systems from the literature.

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