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QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding
April 10, 2024, 4:45 a.m. | Yash Mehan, Kumaraditya Gupta, Rohit Jayanti, Anirudh Govil, Sourav Garg, Madhava Krishna
cs.CV updates on arXiv.org arxiv.org
Abstract: Understanding the structural organisation of 3D indoor scenes in terms of rooms is often accomplished via floorplan extraction. Robotic tasks such as planning and navigation require a semantic understanding of the scene as well. This is typically achieved via object-level semantic segmentation. However, such methods struggle to segment out topological regions like "kitchen" in the scene. In this work, we introduce a two-step pipeline. First, we extract a topological map, i.e., floorplan of the indoor …
abstract arxiv cs.cv cs.ro extraction however maps navigation object organisation planning robotic segmentation semantic struggle tasks terms type understanding via
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