Abstract:To autonomously navigate in real-world environments, mobile robots require a dense map to guarantee safety, such as a 3D occupancy map. However, this map lacks semantic information for scene understanding. On the other hand, semantic objects can be introduced to the map with the help of deep neural networks, but they may suffer from critical run-time issues due to heavy processing components. In this paper, we present an efficient semantic mapping system to incrementally build a voxel-based map with individual… Show more
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