S-MKI: Incremental Dense Semantic Occupancy Reconstruction Through Multi-Entropy Kernel Inference
Yinan Deng,Meiling Wang,Danwei Wang,Yufeng Yue,Yinan Deng,Meiling Wang,Danwei Wang,Yufeng Yue
Autonomous robots are often required to acquire high-level prior knowledge by continuously reconstructing the semantics and geometry of the surrounding scene, which is the basis of exploration and planning. Most existing continuous semantic mapping algorithms cannot distinguish potential differences in voxels, resulting in an over-inflated map. Furthermore, fixed-size query ranges introduce high c...
