# Structure Aware SLAM using Quadrics and Planes

arXiv: https://arxiv.org/abs/1804.09111 · HTML: https://mlsanity.com/paper/1804.09111/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Apr 2018.

## Built on by (most cited first, 17 of 17)

- [Semantics for Robotic Mapping, Perception and Interaction: A Survey](https://mlsanity.com/paper/2101.00443/) (2021)
- [Incremental 3D Semantic Scene Graph Prediction from RGB Sequences](https://mlsanity.com/paper/2305.02743/) (2023)
- [6DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Model](https://mlsanity.com/paper/2407.15484/) (2024)
- [SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints](https://mlsanity.com/paper/2109.04884/) (2021)
- [From Semi-supervised to Omni-supervised Room Layout Estimation Using Point Clouds](https://mlsanity.com/paper/2301.13865/) (2023)
- [OA-SLAM: Leveraging Objects for Camera Relocalization in Visual SLAM](https://mlsanity.com/paper/2209.08338/) (2022)
- [Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras](https://mlsanity.com/paper/2207.06058/) (2022)
- [PlaneSegNet: Fast and Robust Plane Estimation Using a Single-stage Instance Segmentation CNN](https://mlsanity.com/paper/2103.15428/) (2021)
- [S3LAM: Structured Scene SLAM](https://mlsanity.com/paper/2109.07339/) (2021)
- [Simultaneous Localisation and Mapping with Quadric Surfaces](https://mlsanity.com/paper/2203.08040/) (2022)
- [Incremental Abstraction in Distributed Probabilistic SLAM Graphs](https://mlsanity.com/paper/2109.06241/) (2021)
- [Level Set-Based Camera Pose Estimation From Multiple 2D/3D Ellipse-Ellipsoid Correspondences](https://mlsanity.com/paper/2207.07953/) (2022)
- [Edge Graph Intelligence: Reciprocally Empowering Edge Networks with Graph Intelligence](https://mlsanity.com/paper/2407.15320/) (2024)
- [VP-SLAM: A Monocular Real-time Visual SLAM with Points, Lines and Vanishing Points](https://mlsanity.com/paper/2210.12756/) (2022)
- [CNN-Augmented Visual-Inertial SLAM with Planar Constraints](https://mlsanity.com/paper/2205.02940/) (2022)
- [BEVPose: Unveiling Scene Semantics through Pose-Guided Multi-Modal BEV Alignment](https://mlsanity.com/paper/2410.20969/) (2024)
- [Convex Hull-based Algebraic Constraint for Visual Quadric SLAM](https://mlsanity.com/paper/2503.01254/) (2025)

## Abstract (arXiv)

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art object detection methods provide rich information about entities present in the scene from a single image. This work marries the two and proposes a method for representing generic objects as quadrics which allows object detections to be seamlessly integrated in a SLAM framework. For scene coverage, additional dominant planar structures are modeled as infinite planes. Experiments show that the proposed points-planes-quadrics representation can easily incorporate Manhattan and object affordance constraints, greatly improving camera localization and leading to semantically meaningful maps. The performance of our SLAM system is demonstrated in https://youtu.be/dR-rB9keF8M .