TUPPer-Map: Temporal and Unified Panoptic Perception for 3D Metric-Semantic Mapping
Zhiliu Yang,Chen Liu,Zhiliu Yang,Chen Liu
In this paper, we propose TUPPer-Map, a metric-semantic mapping framework based on the unified panoptic segmentation and temporal data association. In contrast to the previous mapping method, our framework integrates the data association stage into the holistic pixel-level segmentation stage in an end-to-end fashion, taking advantage of both intra-frame and inter-frame spatial and temporal knowled...
