MOLTR: Multiple Object Localisation, Tracking, and Reconstruction from Monocular RGB Videos

Understand

Semantic aware reconstruction is more advantageous than geometric-only reconstruction for future robotic and AR/VR applications because it represents not only where things are, but also what things are.

• Object-centric mapping is a task to build an object-level reconstruction where objects are separate and meaningful entities that convey both geometry and semantic information.
• In this paper, we present MOLTR, a solution to object-centric mapping using only monocular image sequences and camera poses.
• It is able to localise, track, and reconstruct multiple objects in an online fashion when an RGB camera captures a video of the surrounding.