Fast Probabilistic Labeling of City Maps

  title={Fast Probabilistic Labeling of City Maps},
  author={Ingmar Posner and Mark Joseph Cummins and Paul Newman},
  booktitle={Robotics: Science and Systems},
This paper introduces a probabilistic, two-stage classification framework for the semantic annotation of urban maps as provided by a mobile robot. During the first stage, local scene properties are considered using a probabilistic bagof-words classifier. The second stage incorporates contextual information across a given scene via a Markov Random Field (MRF). Our approach is driven by data from an onboard camera and 3D laser scanner and uses a combination of appearancebased and geometric… CONTINUE READING
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