# SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints

arXiv: https://arxiv.org/abs/2109.04884 · HTML: https://mlsanity.com/paper/2109.04884/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 27 references that are in the map.
- First posted on arXiv 10 Sep 2021.

## Builds on (most cited first, 12 of 12)

- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Convex optimization](https://mlsanity.com/paper/2106.01946/) (2021)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016)
- [CubeSLAM: Monocular 3D Object SLAM](https://mlsanity.com/paper/1806.00557/) (2018)
- [MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects](https://mlsanity.com/paper/1804.09194/) (2018)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments](https://mlsanity.com/paper/1703.07334/) (2017)
- [Structure Aware SLAM using Quadrics and Planes](https://mlsanity.com/paper/1804.09111/) (2018)
- [Real-Time Monocular Object-Model Aware Sparse SLAM](https://mlsanity.com/paper/1809.09149/) (2018)
- [Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments](https://mlsanity.com/paper/2004.05303/) (2020)
- [An Orientation Factor for Object-Oriented SLAM](https://mlsanity.com/paper/1809.06977/) (2018)

## Built on by (most cited first, 19 of 19)

- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [6DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Model](https://mlsanity.com/paper/2407.15484/) (2024)
- [DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAM](https://mlsanity.com/paper/2401.01545/) (2024)
- [OA-SLAM: Leveraging Objects for Camera Relocalization in Visual SLAM](https://mlsanity.com/paper/2209.08338/) (2022)
- [Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Prior](https://mlsanity.com/paper/2306.11739/) (2023)
- [A Review on Visual-SLAM: Advancements from Geometric Modelling to Learning-based Semantic Scene Understanding](https://mlsanity.com/paper/2209.05222/) (2022)
- [Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors](https://mlsanity.com/paper/2309.09118/) (2023)
- [ObVi-SLAM: Long-Term Object-Visual SLAM](https://mlsanity.com/paper/2309.15268/) (2023)
- [CLIP-Loc: Multi-modal Landmark Association for Global Localization in Object-based Maps](https://mlsanity.com/paper/2402.06092/) (2024)
- [Semantic Visual Simultaneous Localization and Mapping: A Survey](https://mlsanity.com/paper/2209.06428/) (2022)
- [VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks](https://mlsanity.com/paper/2402.13609/) (2024)
- [Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors](https://mlsanity.com/paper/2410.05514/) (2024)
- [Representing 3D sparse map points and lines for camera relocalization](https://mlsanity.com/paper/2402.18011/) (2024)
- [GSLAMOT: A Tracklet and Query Graph-based Simultaneous Locating, Mapping, and Multiple Object Tracking System](https://mlsanity.com/paper/2408.09191/) (2024)
- [Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency](https://mlsanity.com/paper/2304.05146/) (2023)
- [UniQuadric: A SLAM Backend for Unknown Rigid Object 3D Tracking and Light-Weight Modeling](https://mlsanity.com/paper/2309.17036/) (2023)
- [MCOO-SLAM: A Multi-Camera Omnidirectional Object SLAM System](https://mlsanity.com/paper/2506.15402/) (2025)
- [Advancing Frontiers in SLAM: A Survey of Symbolic Representation and Human-Machine Teaming in Environmental Mapping](https://mlsanity.com/paper/2405.01398/) (2024)
- [Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAM](https://mlsanity.com/paper/2604.00804/) (2026)

## Abstract (arXiv)

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face challenges such as partial observations, occlusions, unobservable problems, limiting the mapping accuracy and robustness. This paper proposes a novel monocular Semantic Object SLAM (SO-SLAM) system that addresses the introduction of object spatial constraints. We explore three representative spatial constraints, including scale proportional constraint, symmetrical texture constraint and plane supporting constraint. Based on these semantic constraints, we propose two new methods - a more robust object initialization method and an orientation fine optimization method. We have verified the performance of the algorithm on the public datasets and an author-recorded mobile robot dataset and achieved a significant improvement on mapping effects. We will release the code here: https://github.com/XunshanMan/SoSLAM.