# OA-SLAM: Leveraging Objects for Camera Relocalization in Visual SLAM

arXiv: https://arxiv.org/abs/2209.08338 · HTML: https://mlsanity.com/paper/2209.08338/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 40 references that are in the map.
- First posted on arXiv 17 Sep 2022.

## Builds on (most cited first, 15 of 15)

- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks](https://mlsanity.com/paper/1609.05130/) (2016)
- [CubeSLAM: Monocular 3D Object SLAM](https://mlsanity.com/paper/1806.00557/) (2018)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [Meaningful Maps With Object-Oriented Semantic Mapping](https://mlsanity.com/paper/1609.07849/) (2016)
- [DSP-SLAM: Object Oriented SLAM with Deep Shape Priors](https://mlsanity.com/paper/2108.09481/) (2021)
- [EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association](https://mlsanity.com/paper/2004.12730/) (2020)
- [SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints](https://mlsanity.com/paper/2109.04884/) (2021)
- [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)
- [Deep-SLAM++: Object-level RGBD SLAM based on class-specific deep shape priors](https://mlsanity.com/paper/1907.09691/) (2019)
- [Ellipse Detection and Localization with Applications to Knots in Sawn Lumber Images](https://mlsanity.com/paper/2011.04844/) (2020)
- [Object-Based Visual Camera Pose Estimation From Ellipsoidal Model and 3D-Aware Ellipse Prediction](https://mlsanity.com/paper/2203.04613/) (2022)

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

- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [6DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Model](https://mlsanity.com/paper/2407.15484/) (2024)
- [Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM](https://mlsanity.com/paper/2309.08086/) (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)
- [GOReloc: Graph-based Object-Level Relocalization for Visual SLAM](https://mlsanity.com/paper/2408.07917/) (2024)
- [VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks](https://mlsanity.com/paper/2402.13609/) (2024)
- [CLIP-Clique: Graph-based Correspondence Matching Augmented by Vision Language Models for Object-based Global Localization](https://mlsanity.com/paper/2410.03054/) (2024)
- [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)
- [MSG-Loc: Multi-Label Likelihood-based Semantic Graph Matching for Object-Level Global Localization](https://mlsanity.com/paper/2512.03522/) (2025)
- [LangGS-SLAM: Real-Time Language-Feature Gaussian Splatting SLAM](https://mlsanity.com/paper/2602.06991/) (2026)
- [Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization](https://mlsanity.com/paper/2606.24767/) (2026)
- [Semantic Object-level Modeling for Robust Visual Camera Relocalization](https://mlsanity.com/paper/2402.06951/) (2024)
- [Mesh2SLAM in VR: A Fast Geometry-Based SLAM Framework for Rapid Prototyping in Virtual Reality Applications](https://mlsanity.com/paper/2501.09600/) (2025)
- [Convex Hull-based Algebraic Constraint for Visual Quadric SLAM](https://mlsanity.com/paper/2503.01254/) (2025)
- [VideoReloc: Long-Term Indoor Video Relocalization against a Kilobyte-Scale Semantic Scene Graph](https://mlsanity.com/paper/2609.21804/) (2026)

## Abstract (arXiv)

In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects lies in their higher-level semantic and discriminating power. Points, on the contrary, have a better spatial localization accuracy than the generic coarse models used to represent objects (cuboid or ellipsoid). We show that combining points and objects is of great interest to address the problem of camera pose recovery. Our main contributions are: (1) we improve the relocalization ability of a SLAM system using high-level object landmarks; (2) we build an automatic system, capable of identifying, tracking and reconstructing objects with 3D ellipsoids; (3) we show that object-based localization can be used to reinitialize or resume camera tracking. Our fully automatic system allows on-the-fly object mapping and enhanced pose tracking recovery, which we think, can significantly benefit to the AR community. Our experiments show that the camera can be relocalized from viewpoints where classical methods fail. We demonstrate that this localization allows a SLAM system to continue working despite a tracking loss, which can happen frequently with an uninitiated user. Our code and test data are released at gitlab.inria.fr/tangram/oa-slam.