mlsanityData to 7 Oct 2026

ODAM: Object Detection, Association, and Mapping using Posed RGB Video

arXiv 2108.10165 ↗First posted 23 Aug 2021cs.CVcited by 22

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Abstract (arXiv)

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection, Association, and Mapping using posed RGB videos. The proposed system relies on a deep learning front-end to detect 3D objects from a given RGB frame and associate them to a global object-based map using a graph neural network (GNN). Based on these frame-to-model associations, our back-end optimizes object bounding volumes, represented as super-quadrics, under multi-view geometry constraints and the object scale prior. We validate the proposed system on ScanNet where we show a significant improvement over existing RGB-only methods.

Key facts. Cited by 22 papers in the map (data through 7 Oct 2026). Builds on 42 of its 61 references that are in the map. First posted on arXiv 23 Aug 2021.

Builds on

42 of 61 references.

References · 42

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2020End-to-End Object Detection with Transformerscited by 7,384
  3. 2017Mask R-CNNcited by 7,259
  4. 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,829
  5. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  6. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  7. 2017What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?cited by 2,335
  8. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  9. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  10. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  11. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 721
  12. 2020GRAF: Generative Radiance Fields for 3D-Aware Image Synthesiscited by 688
30 more
  1. 2021TrackFormer: Multi-Object Tracking with Transformerscited by 515
  2. 2016Direct Sparse Odometrycited by 479
  3. 2016Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Agecited by 405
  4. 2020TransTrack: Multiple Object Tracking with Transformercited by 370
  5. 2019STD: Sparse-to-Dense 3D Object Detector for Point Cloudcited by 282
  6. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 277
  7. 20183D-SIS: 3D Semantic Instance Segmentation of RGB-D Scanscited by 216
  8. 2019Learning a Neural Solver for Multiple Object Trackingcited by 198
  9. 2019Learning Object Bounding Boxes for 3D Instance Segmentation on Point Cloudscited by 156
  10. 2018Scan2CAD: Learning CAD Model Alignment in RGB-D Scanscited by 142
  11. 2016SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networkscited by 134
  12. 2019Superquadrics Revisited: Learning 3D Shape Parsing beyond Cuboidscited by 123
  13. 2020ImVoteNet: Boosting 3D Object Detection in Point Clouds with Image Votescited by 119
  14. 2020Kinematic 3D Object Detection in Monocular Videocited by 116
  15. 2020GNN3DMOT: Graph Neural Network for 3D Multi-Object Tracking with Multi-Feature Learningcited by 113
  16. 2015Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Imagescited by 111
  17. 2018CubeSLAM: Monocular 3D Object SLAMcited by 101
  18. 2018QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAMcited by 86
  19. 2018Joint Monocular 3D Vehicle Detection and Trackingcited by 77
  20. 2020DyCo3D: Robust Instance Segmentation of 3D Point Clouds through Dynamic Convolutioncited by 74
  21. 2014Viewpoints and Keypointscited by 59
  22. 2020FroDO: From Detections to 3D Objectscited by 51
  23. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  24. 2019Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objectscited by 39
  25. 2020RfD-Net: Point Scene Understanding by Semantic Instance Reconstructioncited by 36
  26. 2020Vid2CAD: CAD Model Alignment using Multi-View Constraints from Videoscited by 33
  27. 2018A Mixed Classification-Regression Framework for 3D Pose Estimation from 2D Imagescited by 19
  28. 2020MOLTR: Multiple Object Localisation, Tracking, and Reconstruction from Monocular RGB Videoscited by 18
  29. 2018Real-Time Monocular Object-Model Aware Sparse SLAMcited by 17
  30. 2016Crafting a multi-task CNN for viewpoint estimationcited by 5

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 9; 2024: 5; 2025: 3; 2026: 4.

22 papers.

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  1. 2023ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planningcited by 357
  2. 2023Incremental 3D Semantic Scene Graph Prediction from RGB Sequencescited by 39
  3. 2024EFM3D: A Benchmark for Measuring Progress Towards 3D Egocentric Foundation Modelscited by 25
  4. 2024OmniNOCS: A unified NOCS dataset and model for 3D lifting of 2D objectscited by 22
  5. 2025LiteReality: Graphics-Ready 3D Scene Reconstruction from RGB-D Scanscited by 21
  6. 2022RayTran: 3D pose estimation and shape reconstruction of multiple objects from videos with ray-traced transformerscited by 17
  7. 2023An Object SLAM Framework for Association, Mapping, and High-Level Taskscited by 15
  8. 2023Living Scenes: Multi-object Relocalization and Reconstruction in Changing 3D Environmentscited by 15
  9. 2023CAD-Estate: Large-scale CAD Model Annotation in RGB Videoscited by 14
  10. 2023Pixel-Aligned Recurrent Queries for Multi-View 3D Object Detectioncited by 14
  11. 2024FastCAD: Real-Time CAD Retrieval and Alignment from Scans and Videoscited by 7
  12. 2023Automated Camera Calibration via Homography Estimation with GNNscited by 6
10 more
  1. 2026Engine-Native Editable 3D World Reconstruction with Objects and Lightingcited by 3
  2. 2025Rooms from Motion: Un-posed Indoor 3D Object Detection as Localization and Mappingcited by 2
  3. 2026WorldSculpt: Generating Compositional Worlds from Grounded Videoscited by 2
  4. 20243D Semantic MapNet: Building Maps for Multi-Object Re-Identification in 3Dcited by 1
  5. 2024Maps from Motion (MfM): Generating 2D Semantic Maps from Sparse Multi-view Imagescited by 1
  6. 2023Constructing Metric-Semantic Maps using Floor Plan Priors for Long-Term Indoor Localizationcited by 0
  7. 2023LocaliseBot: Multi-view 3D object localisation with differentiable rendering for robot graspingcited by 0
  8. 2025Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planningcited by 0
  9. 2026Temporally Consistent Object 6D Pose Estimation for Robot Controlcited by 0
  10. 2026Semantic Semi-Incremental Data-Association-Free Object SLAMcited by 0