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QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM

arXiv 1804.04011 ↗First posted 10 Apr 2018cs.ROcited by 86

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Abstract (arXiv)

In this paper, we use 2D object detections from multiple views to simultaneously estimate a 3D quadric surface for each object and localize the camera position. We derive a SLAM formulation that uses dual quadrics as 3D landmark representations, exploiting their ability to compactly represent the size, position and orientation of an object, and show how 2D object detections can directly constrain the quadric parameters via a novel geometric error formulation. We develop a sensor model for object detectors that addresses the challenge of partially visible objects, and demonstrate how to jointly estimate the camera pose and constrained dual quadric parameters in factor graph based SLAM with a general perspective camera.

Key facts. Cited by 86 papers in the map (data through 14 Oct 2026). First posted on arXiv 10 Apr 2018.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 17; 2022: 19; 2023: 13; 2024: 18; 2025: 12; 2026: 7.

86 papers.

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  1. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 575
  2. 2024Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigationcited by 196
  3. 2022CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigationcited by 194
  4. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 179
  5. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  6. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  7. 2023Incremental 3D Semantic Scene Graph Prediction from RGB Sequencescited by 39
  8. 2021DSP-SLAM: Object Oriented SLAM with Deep Shape Priorscited by 30
  9. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  10. 2024RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigationcited by 25
  11. 2021ODAM: Object Detection, Association, and Mapping using Posed RGB Videocited by 22
  12. 2021AirDOS: Dynamic SLAM benefits from Articulated Objectscited by 21
38 more
  1. 2021SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraintscited by 19
  2. 2022RayTran: 3D pose estimation and shape reconstruction of multiple objects from videos with ray-traced transformerscited by 17
  3. 2022OA-SLAM: Leveraging Objects for Camera Relocalization in Visual SLAMcited by 17
  4. 2023An Object SLAM Framework for Association, Mapping, and High-Level Taskscited by 15
  5. 2021Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopycited by 12
  6. 2024Open-Vocabulary Online Semantic Mapping for SLAMcited by 12
  7. 2023SuperPrimitive: Scene Reconstruction at a Primitive Levelcited by 11
  8. 2024Q-SLAM: Quadric Representations for Monocular SLAMcited by 11
  9. 2021A Deep Signed Directional Distance Function for Object Shape Representationcited by 10
  10. 2021ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Descriptioncited by 10
  11. 2022Leveraging Large (Visual) Language Models for Robot 3D Scene Understandingcited by 10
  12. 2023NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mappingcited by 10
  13. 2023Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Priorcited by 9
  14. 2023TextSLAM: Visual SLAM with Semantic Planar Text Featurescited by 8
  15. 2023ObVi-SLAM: Long-Term Object-Visual SLAMcited by 8
  16. 2024CLIP-Loc: Multi-modal Landmark Association for Global Localization in Object-based Mapscited by 8
  17. 2025SG-Reg: Generalizable and Efficient Scene Graph Registrationcited by 8
  18. 2021Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisationcited by 7
  19. 2022What's in the Black Box? The False Negative Mechanisms Inside Object Detectorscited by 7
  20. 2022Semantic Visual Simultaneous Localization and Mapping: A Surveycited by 7
  21. 20233D Video Object Detection with Learnable Object-Centric Global Optimizationcited by 7
  22. 2024GOReloc: Graph-based Object-Level Relocalization for Visual SLAMcited by 7
  23. 20213D-Aware Ellipse Prediction for Object-Based Camera Pose Estimationcited by 6
  24. 2022DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustmentcited by 6
  25. 2024VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarkscited by 6
  26. 2021Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadricscited by 5
  27. 2021S3LAM: Structured Scene SLAMcited by 5
  28. 2022Simultaneous Localisation and Mapping with Quadric Surfacescited by 5
  29. 2022Perspective-1-Ellipsoid: Formulation, Analysis and Solutions of the Camera Pose Estimation Problem from One Ellipse-Ellipsoid Correspondencecited by 5
  30. 2024Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priorscited by 5
  31. 2022Object-Based Visual Camera Pose Estimation From Ellipsoidal Model and 3D-Aware Ellipse Predictioncited by 4
  32. 2022PoserNet: Refining Relative Camera Poses Exploiting Object Detectionscited by 4
  33. 2022An Online Semantic Mapping System for Extending and Enhancing Visual SLAMcited by 3
  34. 2022Level Set-Based Camera Pose Estimation From Multiple 2D/3D Ellipse-Ellipsoid Correspondencescited by 3
  35. 2022Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenescited by 3
  36. 2024GSLAMOT: A Tracklet and Query Graph-based Simultaneous Locating, Mapping, and Multiple Object Tracking Systemcited by 3
  37. 2024CLIP-Clique: Graph-based Correspondence Matching Augmented by Vision Language Models for Object-based Global Localizationcited by 3
  38. 2021SymbioLCD: Ensemble-Based Loop Closure Detection using CNN-Extracted Objects and Visual Bag-of-Wordscited by 2

50 most cited of 86 All 86 (JSON)