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Title: Incremental scene understanding on dense SLAM
We present an architecture for online, incremental scene modeling which combines a SLAM-based scene understanding framework with semantic segmentation and object pose estimation. The core of this approach comprises a probabilistic inference scheme that predicts semantic labels for object hypotheses at each new frame. From these hypotheses, recognized scene structures are incrementally constructed and tracked. Semantic labels are inferred using a multi-domain convolutional architecture which operates on the image time series and which enables efficient propagation of features as well as robust model registration. To evaluate this architecture, we introduce a large-scale RGB-D dataset JHUSEQ-25 as a new benchmark for the sequence-based scene understanding in complex and densely cluttered scenes. This dataset contains 25 RGB-D video sequences with 100,000 labeled frames in total. We validate our method on this dataset and demonstrate improved performance of semantic segmentation and 6-DoF object pose estimation compared with methods based on the single view.  more » « less
Award ID(s):
1637949
NSF-PAR ID:
10047464
Author(s) / Creator(s):
; ; ; ; ;
Date Published:
Journal Name:
IROS
Page Range / eLocation ID:
574 to 581
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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