SLAM - Quo Vadis? In support of object oriented and semantic SLAM

Most current SLAM systems are still based on primitive geometric features such as points, lines, or planes. The created maps therefore carry geometric information, but no immediate semantic information. With the recent significant advances in object detection and scene classification we think the time is right for the SLAM community to ask where the SLAM research should be going during the next years. As a possible answer to this question, we advocate developing SLAM systems that are more object oriented and more semantically enriched than the current state of the art. This paper provides an overview of our ongoing work in this direction