Large-scale 3D Semantic Mapping Using Stereo Vision

doi:10.1007/s11633-018-1118-y

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	Large-scale 3D Semantic Mapping Using Stereo Vision
	Yi Yang 1; Fan Qiu1 Hao Li 1; Lu Zhang 1; Mei-Ling Wang 1; Meng-Yin Fu 1,2
刊名	International Journal of Automation and Computing
	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.
内容类型	期刊论文
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.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
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.