Dense Incremental Metric-Semantic Mapping via Sparse Gaussian Process Regression
Ehsan Zobeidi,Alec Koppel,Nikolay Atanasov,Ehsan Zobeidi,Alec Koppel,Nikolay Atanasov
We develop an online probabilistic metric-semantic mapping approach for autonomous robots relying on streaming RGB-D observations. We cast this problem as a Bayesian inference task, requiring encoding both the geometric surfaces and semantic labels (e.g., chair, table, wall) of the unknown environment. We propose an online Gaussian Process (GP) training and inference approach, which avoids the com...
