Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM
Suman Raj Bista,David Hall,Ben Talbot,Haoyang Zhang,Feras Dayoub,Niko Sünderhauf,Suman Raj Bista,David Hall,Ben Talbot,Haoyang Zhang,Feras Dayoub,Niko Sünderhauf
Recent Semantic SLAM methods combine classical geometry-based estimation with deep learning-based object detection or semantic segmentation. In this paper we evaluate the quality of semantic maps generated by state-of-the-art class-and instance-aware dense semantic SLAM algorithms whose codes are publicly available and explore the impacts both semantic segmentation and pose estimation have on the ...
