Higher or Lower: Challenges in Object based SLAM (2310.13256v1)

Abstract: Simultaneous localization and mapping, as a fundamental task in computer vision, has gained higher demands for performance in recent years due to the rapid development of autonomous driving and unmanned aerial vehicles. Traditional SLAM algorithms highly rely on basic geometry features such as points and lines, which are susceptible to environment. Conversely, higher-level object features offer richer information that is crucial for enhancing the overall performance of the framework. However, the effective utilization of object features necessitates careful consideration of various challenges, including complexity and process velocity. Given the advantages and disadvantages of both high-level object feature and low-level geometry features, it becomes essential to make informed choices within the SLAM framework. Taking these factors into account, this paper provides a thorough comparison between geometry features and object features, analyzes the current mainstream application methods of object features in SLAM frameworks, and presents a comprehensive overview of the main challenges involved in object-based SLAM.