Corrections to: "Accurate and Robust Object SLAM With 3D Quadric Landmark Reconstruction in Outdoors"

Abstract

The research presented in (Tian et al. 2012) deals with the usage of quadric landmarks in the Simultaneous Localization And Mapping (SLAM) problem. Although there is a lot of research in this subject, the quadric landmark initialization in outdoors is seldom addressed. In their work, (Tian et al. 2012) provides a complete and thorough approach for quadric initialization. As such, we have decided to implement the paper, but unfortunately encountered some issues with the initialized quadric values. Using a controlled scenario with a known quadric and ground-truth bounding-box measurements, we were able to trace back the problem to three specific equations in the original paper. After re-developing the problematic equations, we managed to find the correct formulation. We have decided to share our findings with the research community in an effort to give the work done in (Tian et al. 2012) the spotlight, as well as to save our fellow researchers the troubles we encountered when trying to implement this work.