Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment

4 Jan 2020Zirui ZhaoYijun MaoYan DingPengju RenNanning Zheng

Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based human-robot-interaction. In this paper, we built a system to creat a semantic 3D map by combining 3D point cloud from ORB SLAM with semantic segmentation information from Convolutional Neural Network model PSPNet-101 for large-scale environments... (read more)

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