Localization and Mapping using Instancespecific Mesh Models This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of transportation, construction, and agriculture. Our contribution is an instancespecific mesh model of object shape that can be optimized online based on semantic information extracted from camera images. Multiview constraints on the object shape are obtained by detecting objects and extracting categoryspecific keypoints and segmentation masks. We show that the errors between projections of the mesh model and the observed keypoints and masks can be differentiated in order to obtain accurate instancespecific object shapes. We evaluate the performance of the proposed approach in simulation and on the KITTI dataset by building maps of car poses and shapes.

LocalConvexity Reinforcement for Scene Reconstruction from Sparse Point Clouds Several methods reconstruct surfaces from sparse point clouds that are estimated from images. Most of them build 3D Delaunay triangulation of the points and compute occupancy labeling of the tetrahedra thanks to visibility information and surface constraints. However their most notable errors are falselylabeled freespace tetrahedra. We present labeling corrections of these errors based on a new shape constraint: localconvexity. In the simplest case, this means that a freespace tetrahedron of the Delaunay is relabeled matter if its size is small enough and all its vertices are in matter tetrahedra. The allowed corrections are more important in the vertical direction than in the horizontal ones to take into account the anisotropy of usual scenes. In the experiments, our corrections improve the results of previous surface reconstruction methods applied to videos taken by a consumer 360 camera.