Vision-Based Large-scale 3D Semantic Mapping for Autonomous Driving Applications
Qing Cheng,Niclas Zeller,Daniel Cremers,Qing Cheng,Niclas Zeller,Daniel Cremers
In this paper, we present a complete pipeline for 3D semantic mapping solely based on a stereo camera system. The pipeline comprises a direct sparse visual odometry frontend as well as a back-end for global optimization including GNSS integration, and semantic 3D point cloud labeling. We propose a simple but effective temporal voting scheme which improves the quality and consistency of the 3D poin...
