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Semantic Labeling of Indoor Environments from 3D RGB Maps
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany..
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany..
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma system, CAS.
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany..
Vise andre og tillknytning
2018 (engelsk)Inngår i: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, s. 1871-1878Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present an approach to automatically assign semantic labels to rooms reconstructed from 3D RGB maps of apartments. Evidence for the room types is generated using state-of-the-art deep-learning techniques for scene classification and object detection based on automatically generated virtual RGB views, as well as from a geometric analysis of the map's 3D structure. The evidence is merged in a conditional random field, using statistics mined from different datasets of indoor environments. We evaluate our approach qualitatively and quantitatively and compare it to related methods.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2018. s. 1871-1878
Serie
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-237161ISI: 000446394501066Scopus ID: 2-s2.0-85063131122ISBN: 978-1-5386-3081-5 (tryckt)OAI: oai:DiVA.org:kth-237161DiVA, id: diva2:1258331
Konferanse
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Forskningsfinansiär
Swedish Research Council, C0475401Swedish Foundation for Strategic Research
Merknad

QC 20181024

Tilgjengelig fra: 2018-10-24 Laget: 2018-10-24 Sist oppdatert: 2019-06-12bibliografisk kontrollert

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Totalt: 287 treff
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