Constructing Metric-Semantic Maps Using Floor Plan Priors for Long-Term Indoor Localization
Nicky Zimmerman,Matteo Sodano,Elias Marks,Jens Behley,Cyrill Stachniss,Nicky Zimmerman,Matteo Sodano,Elias Marks,Jens Behley,Cyrill Stachniss
Object-based maps are relevant for scene under-standing since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the task of constructing a metric-semantic map for the purpose of long-term object-based localization. We exploit 3D object detections from monocular RGB frames for...
