# Object Depth and Size Estimation using Stereo-vision and Integration with SLAM

arXiv: https://arxiv.org/abs/2409.07623 · HTML: https://mlsanity.com/paper/2409.07623/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 17 references that are in the map.
- First posted on arXiv 11 Sep 2024.

## Builds on (most cited first, 6 of 6)

- [XGBoost: A Scalable Tree Boosting System](https://mlsanity.com/paper/1603.02754/) (2016)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [A Comprehensive Review of YOLO Architectures in Computer Vision: From YOLOv1 to YOLOv8 and YOLO-NAS](https://mlsanity.com/paper/2304.00501/) (2023)
- [Self-Supervised Monocular Depth Estimation: Solving the Dynamic Object Problem by Semantic Guidance](https://mlsanity.com/paper/2007.06936/) (2020)
- [LCDnet: A Lightweight Crowd Density Estimation Model for Real-time Video Surveillance](https://mlsanity.com/paper/2302.05374/) (2023)
- [An intelligent modular real-time vision-based system for environment perception](https://mlsanity.com/paper/2303.16710/) (2023)

## Built on by (most cited first, 1 of 1)

- [Integrating Object Detection, LiDAR-Enhanced Depth Estimation, and Segmentation Models for Railway Environments](https://mlsanity.com/paper/2604.14781/) (2026)

## Abstract (arXiv)

Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems though effective in detecting solid objects (e.g., trash bin, bottle, etc.), encounter limitations in identifying semitransparent or non-tangible objects (e.g., fire, smoke, steam, etc.) due to poor reflecting characteristics. Additionally, LiDAR also fails to detect features such as navigation signs and often struggles to detect certain hazardous materials that lack a distinct surface for effective laser reflection. In this paper, we propose a highly accurate stereo-vision approach to complement LiDAR in autonomous robots. The system employs advanced stereo vision-based object detection to detect both tangible and non-tangible objects and then uses simple machine learning to precisely estimate the depth and size of the object. The depth and size information is then integrated into the SLAM process to enhance the robot's navigation capabilities in complex environments. Our evaluation, conducted on an autonomous robot equipped with LiDAR and stereo-vision systems demonstrates high accuracy in the estimation of an object's depth and size. A video illustration of the proposed scheme is available at: urlhttps://www.youtube.com/watch?v=nusI6tA9eSk.