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Using Multiresolution Surfel Maps for RGB-D-SLAM See and Random Forests for Object-class segmentation of individual views, Nenad Biresev fused this semantic information to create 3D semantic maps.

See: Jörg Stückler, Nenad Biresev, and Sven Behnke: Semantic Mapping Using Object-Class Segmentation of RGB-D Images In Proceedings of IEEE/RSJ International Conference on Robots and Systems (IROS), Vilamoura, Portugal, October 2012. See