Robust Fusion for Bayesian Semantic Mapping
David Morilla-Cabello,Lorenzo Mur-Labadia,Ruben Martinez-Cantin,Eduardo Montijano,David Morilla-Cabello,Lorenzo Mur-Labadia,Ruben Martinez-Cantin,Eduardo Montijano
The integration of semantic information in a map allows robots to understand better their environment and make high-level decisions. In the last few years, neural networks have shown enormous progress in their perception capabilities. However, when fusing multiple observations from a neural network in a semantic map, its inherent overconfidence with unknown data gives too much weight to the outlie...
