Abstract
Using Quadrics as the object representation has the benefits of both generality and closed-form projection derivation between image and world spaces. Although numerous constraints have been proposed for dual quadric reconstruction, we found that many of them are imprecise and provide minimal improvements to this http URL scrutinizing the existing constraints, we introduce a concise yet more precise convex hull-based algebraic constraint for object landmarks, which is applied to object reconstruction, frontend pose estimation, and backend bundle this http URL constraint is designed to fully leverage precise semantic segmentation, effectively mitigating mismatches between complex-shaped object contours and dual this http URL on public datasets demonstrate that our approach is applicable to both monocular and RGB-D SLAM and achieves improved object mapping and localization than existing quadric SLAM methods. The implementation of our method is available at this https URL.
Abstract (translated)
使用四元体（Quadrics）作为物体表示方法，兼具通用性和从图像空间到世界空间的闭式投影推导的优势。尽管已经提出了许多用于双曲面重建的约束条件，但我们发现其中很多并不精确，并且对现有方法改进甚微。通过仔细审查现有的约束条件，我们引入了一种简洁但更准确的基于凸包代数约束的方法来处理物体特征点的问题，这种方法适用于物体重建、前端姿态估计和后端捆绑调整。该约束条件旨在充分利用精确的语义分割信息，有效缓解复杂形状物体轮廓与双曲面之间的不匹配问题。在公共数据集上的实验表明，我们的方法既适用于单目视觉定位（SLAM）也适用于RGB-D SLAM，并且在物体映射和定位方面比现有的四元体SLAM方法表现更佳。我们方法的实现代码可以在以下网址获取：[此链接应为实际提供的GitHub或其他公开代码库地址，在这里以this https URL表示]。
URL
https://arxiv.org/abs/2503.01254
