Large-scale 3D Semantic Mapping Using Stereo Vision
文献类型：期刊论文
| 作者 | Yi Yang2; Fan Qiu1 Hao Li2; Lu Zhang2 ; Mei-Ling Wang2; Meng-Yin Fu1,2
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| 刊名 | International Journal of Automation and Computing
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| 出版日期 | 2018 |
| 卷号 | 15期号:2页码:194-206 |
| 关键词 | Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping (SLAM). |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-018-1118-y |
| 英文摘要 | In 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42402]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Nanjing University of Science and Technology, Nanjing 210094, China 2.School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：自动化研究所
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