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Large-scale 3D Semantic Mapping Using Stereo Vision
Yi Yang1; Fan Qiu1 Hao Li1; Lu Zhang1; Mei-Ling Wang1; Meng-Yin Fu1,2
Source PublicationInternational Journal of Automation and Computing
AbstractIn recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping (SLAM) systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and the motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify the feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field (CRF) inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate the dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.
KeywordSemantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping (SLAM).
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Cited Times:14[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Collection学术期刊_Machine Intelligence Research
Affiliation1.School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China
2.Nanjing University of Science and Technology, Nanjing 210094, China
Recommended Citation
GB/T 7714
Yi Yang,Fan Qiu1 Hao Li,Lu Zhang,et al. Large-scale 3D Semantic Mapping Using Stereo Vision[J]. International Journal of Automation and Computing,2018,15(2):194-206.
APA Yi Yang,Fan Qiu1 Hao Li,Lu Zhang,Mei-Ling Wang,&Meng-Yin Fu.(2018).Large-scale 3D Semantic Mapping Using Stereo Vision.International Journal of Automation and Computing,15(2),194-206.
MLA Yi Yang,et al."Large-scale 3D Semantic Mapping Using Stereo Vision".International Journal of Automation and Computing 15.2(2018):194-206.
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