Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints
  and Squared Planar Markers   This paper proposes a novel approach for Simultaneous Localization and
Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches
use natural landmarks (such as keypoints). However, they are unstable over
time, repetitive in many cases or insufficient for a robust tracking (e.g. in
indoor buildings). On the other hand, other approaches have employed artificial
landmarks (such as squared fiducial markers) placed in the environment to help
tracking and relocalization. We propose a method that integrates both
approaches in order to achieve long-term robust tracking in many scenarios.
  Our method has been compared to the start-of-the-art methods ORB-SLAM2 and
LDSO in the public dataset Kitti, Euroc-MAV, TUM and SPM, obtaining better
precision, robustness and speed. Our tests also show that the combination of
markers and keypoints achieves better accuracy than each one of them
independently.

33
The categories of this paper are: plasm-ph
7
The categories of this paper are: hep-th
23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
29
The categories of this paper are: funct-an
36
The categories of this paper are: cmp-lg
24
The categories of this paper are: dg-ga
0
The categories of this paper are: hep-ph
9
The categories of this paper are: nlin
28
The categories of this paper are: alg-geom
19
The categories of this paper are: eess
21
The categories of this paper are: adap-org
5
The categories of this paper are: gr-qc
6
The categories of this paper are: astro-ph
4
The categories of this paper are: cond-mat
8
The categories of this paper are: hep-ex