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High-quality Instance-aware Semantic 3D Map Using RGB-D Camera
[article]
2019
arXiv
pre-print
We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and classification into a state of the art RGB-D SLAM system. We leverage the pipeline of ElasticFusion [1] as a backbone and propose modifications of the registration cost function. The proposed objective function features a tunable weight for the appearance channel, which
arXiv:1903.10782v6
fatcat:v6ncwi2b5jhjnnldaenxieromq