Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Multi-modal Tracking for Object based SLAM   We present an on-line 3D visual object tracking framework for monocular
cameras by incorporating spatial knowledge and uncertainty from semantic
mapping along with high frequency measurements from visual odometry. Using a
combination of vision and odometry that are tightly integrated we can increase
the overall performance of object based tracking for semantic mapping. We
present a framework for integration of the two data-sources into a coherent
framework through information based fusion/arbitration. We demonstrate the
framework in the context of OmniMapper[1] and present results on 6 challenging
sequences over multiple objects compared to data obtained from a motion capture
systems. We are able to achieve a mean error of 0.23m for per frame tracking
showing 9% relative error less than state of the art tracker.

30
The categories of this paper are: q-alg
3
The categories of this paper are: physics
31
The categories of this paper are: ao-sci
25
The categories of this paper are: patt-sol
2
The categories of this paper are: math
33
The categories of this paper are: plasm-ph
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
23
The categories of this paper are: solv-int
34
The categories of this paper are: chem-ph
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
29
The categories of this paper are: funct-an
19
The categories of this paper are: eess
18
The categories of this paper are: econ
24
The categories of this paper are: dg-ga