Semantic mapping using object-class segmentation of RGB-D images

  title={Semantic mapping using object-class segmentation of RGB-D images},
  author={J{\"o}rg St{\"u}ckler and Nenad Biresev and Sven Behnke},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
For task planning and execution in unstructured environments, a robot needs the ability to recognize and localize relevant objects. When this information is made persistent in a semantic map, it can be used, e. g., to communicate with humans. In this paper, we propose a novel approach to learning such maps. Our approach registers measurements of RGB-D cameras by means of simultaneous localization and mapping. We employ random decision forests to segment object classes in images and exploit… CONTINUE READING
Highly Cited
This paper has 51 citations. REVIEW CITATIONS