Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery

IEEE ROBOTICS AND AUTOMATION LETTERS 2019 Margarita GrinvaldFadri FurrerTonci NovkovicJen Jen ChungCesar CadenaRoland SiegwartJuan Nieto

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene geometry, the key insight toward a truly functional understanding of the environment is the usage of higher-level entities during mapping, such as individual object instances... (read more)

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