Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 4, Issue 3, Pages 3037-3044Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2923960
Keywords
RGB-D perception; object detection; segmentation and categorization; mapping
Categories
Funding
- ABB Corporate Research
- Amazon Research Awards program
- Swiss National Science Foundation (SNF) through the National Centre of Competence in Research on Digital Fabrication
Ask authors/readers for more resources
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene geometry, the key insight toward a truly functional understanding of the environment is the usage of higher level entities during mapping, such as individual object instances. This work presents an approach to incrementally build volumetric object-centric maps during online scanning with a localized RGB-D camera. First, a per-frame segmentation scheme combines an unsupervised geometric approach with instance-aware semantic predictions to detect both recognized scene elements as well as previously unseen objects. Next, a data association step tracks the predicted instances across the different frames. Finally, a map integration strategy fuses information about their 3D shape, location, and, if available, semantic class into a global volume. Evaluation on a publicly available dataset shows that the proposed approach for building instance-level semantic maps is competitive with state-of-theart methods, while additionally able to discover objects of unseen categories. The system is further evaluated within a real-world robotic mapping setup, for which qualitative results highlight the online nature of the method. Code is available at https://githuh.com/ ethz-asl/voxblox-plusplus.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available