S3LAM: Structured Scene SLAM
Mathieu Gonzalez,Eric Marchand,Amine Kacete,Jerome Royan,Mathieu Gonzalez,Eric Marchand,Amine Kacete,Jerome Royan
We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution is twofold: i) A new SLAM system based on ORB-SLAM2 that creates a semantic map made of clusters of points corresponding to objects instances and structures in t...