Semantic 3D occupancy mapping through efficient high order CRFs

@article{Yang2017Semantic3O,
  title={Semantic 3D occupancy mapping through efficient high order CRFs},
  author={Shichao Yang and Yulan Huang and Sebastian Scherer},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={590-597}
}
Semantic 3D mapping can be used for many applications such as robot navigation and virtual interaction. In recent years, there has been great progress in semantic segmentation and geometric 3D mapping. However, it is still challenging to combine these two tasks for accurate and large-scale semantic mapping from images. In the paper, we propose an incremental and (near) real-time semantic mapping system. A 3D scrolling occupancy grid map is built to represent the world, which is memory and… CONTINUE READING
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