Semantic SLAM

13 papers with code • 0 benchmarks • 4 datasets

SLAM with semantic level scene understanding

Most implemented papers

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

MIT-SPARK/Kimera 6 Oct 2019

We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM).

EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association

yanmin-wu/EAO-SLAM 27 Apr 2020

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms.

Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy

KumarRobotics/kr_autonomous_flight 14 Sep 2021

Semantic maps represent the environment using a set of semantically meaningful objects.

KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D

autonomousvision/kitti360scripts 28 Sep 2021

For the last few decades, several major subfields of artificial intelligence including computer vision, graphics, and robotics have progressed largely independently from each other.

Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

martinruenz/co-fusion 20 Jun 2017

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and reconstructing their 3D shape in real time.

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

martinruenz/maskfusion 24 Apr 2018

We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene.

MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM

smartroboticslab/mid-fusion 19 Dec 2018

It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric, semantic, and motion properties for arbitrary objects in the scene.

Dynamic-SLAM: Semantic monocular visual localization and mapping based on deep learning in dynamic environment

konanrobot/Dynamic-SLAM Robotics and Autonomous Systems 2019

Then, in view of low recall rate of the existing SSD object detection network, a missed detection compensation algorithm based on the speed invariance in adjacent frames is proposed, which greatly improves the recall rate of detection.

Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment

1989Ryan/Semantic_SLAM 4 Jan 2020

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.

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

mit-spark/kimera-multi 28 Jun 2021

This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting from perceptual aliasing, (ii) is fully distributed and only relies on local (peer-to-peer) communication to achieve distributed localization and mapping, and (iii) builds a globally consistent metric-semantic 3D mesh model of the environment in real-time, where faces of the mesh are annotated with semantic labels.