mlsanityData to 14 Oct 2026

TextSLAM: Visual SLAM with Semantic Planar Text Features

arXiv 2305.10029 ↗First posted 17 May 2023cs.CVcited by 8

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Abstract (arXiv)

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose semantic meaning is extracted and updated on the fly for better data association. With the full exploration of locally planar characteristics and semantic meaning of text objects, the SLAM system becomes more accurate and robust even under challenging conditions such as image blurring, large viewpoint changes, and significant illumination variations (day and night). We tested our method in various scenes with the ground truth data. The results show that integrating texture features leads to a more superior SLAM system that can match images across day and night. The reconstructed semantic 3D text map could be useful for navigation and scene understanding in robotic and mixed reality applications. Our project page: https://github.com/SJTU-ViSYS/TextSLAM .

Key facts. Cited by 8 papers in the map (data through 14 Oct 2026). Builds on 33 of its 79 references that are in the map. First posted on arXiv 17 May 2023.

Builds on

33 of 79 references.

References · 33

  1. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  2. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,320
  3. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  4. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 941
  5. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 806
  6. 2016Direct Sparse Odometrycited by 485
  7. 2017EAST: An Efficient and Accurate Scene Text Detectorcited by 248
  8. 2016COCO-Text: Dataset and Benchmark for Text Detection and Recognition in Natural Imagescited by 236
  9. 2019Real-time Scene Text Detection with Differentiable Binarizationcited by 214
  10. 2019Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mappingcited by 184
  11. 2019Mask TextSpotter: An End-to-End Trainable Neural Network for Spotting Text with Arbitrary Shapescited by 171
  12. 2019ICDAR2019 Robust Reading Challenge on Arbitrary-Shaped Text (RRC-ArT)cited by 147
21 more
  1. 2016SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networkscited by 135
  2. 2020Patch2Pix: Epipolar-Guided Pixel-Level Correspondencescited by 129
  3. 2018CubeSLAM: Monocular 3D Object SLAMcited by 102
  4. 2018Fusion++: Volumetric Object-Level SLAMcited by 98
  5. 2018MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objectscited by 95
  6. 2018QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAMcited by 86
  7. 2019Volumetric Instance-Aware Semantic Mapping and 3D Object Discoverycited by 80
  8. 2019All You Need Is Boundary: Toward Arbitrary-Shaped Text Spottingcited by 66
  9. 2019SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representationscited by 37
  10. 2022Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understandingcited by 37
  11. 2018FutureMapping: The Computational Structure of Spatial AI Systemscited by 36
  12. 2021MOST: A Multi-Oriented Scene Text Detector with Localization Refinementcited by 33
  13. 2018Monocular Object and Plane SLAM in Structured Environmentscited by 23
  14. 2020Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mappingcited by 18
  15. 2019FutureMapping 2: Gaussian Belief Propagation for Spatial AIcited by 17
  16. 2018StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environmentscited by 12
  17. 2019TextSLAM: Visual SLAM with Planar Text Featurescited by 11
  18. 2022Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenescited by 8
  19. 2015Real-time Monocular Object SLAMcited by 7
  20. 2022Simultaneous Localisation and Mapping with Quadric Surfacescited by 5
  21. 2019A Feasible Framework for Arbitrary-Shaped Scene Text Recognitioncited by 3

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 4; 2025: 2; 2026: 2.

8 papers.

  1. 2024PanSplat: 4K Panorama Synthesis with Feed-Forward Gaussian Splattingcited by 24
  2. 2024Hier-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splattingcited by 15
  3. 2024Self-Supervised Multi-Frame Neural Scene Flowcited by 3
  4. 2024Context-Based Visual-Language Place Recognitioncited by 2
  5. 2025TextInPlace: Indoor Visual Place Recognition in Repetitive Structures with Scene Text Spotting and Verificationcited by 2
  6. 2025PlanarGS: High-Fidelity Indoor 3D Gaussian Splatting Guided by Vision-Language Planar Priorscited by 1
  7. 2026Leveraging Semantic Maps for City-Scale Cross-View Localizationcited by 0
  8. 2026Robust Multi-Model Fitting through Learning Neighbor Regionscited by 0