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Automatic Objects Detection for Modeling Indoor Environments

In this paper we describe a new solution for constructing a model of a scene and its objects using various explorations of a single camera in an unknown environment. Object motion presents a difficult challenge to scene modeling. The proposed method combines metric localization and place recognition to detect and model objects without a priori knowledge and to incrementally extend a scene model by adding new places and objects. We demonstrate the quality of our approach with results from image sequences taken from two