Volumetric Semantically Consistent 3D Panoptic Mapping

arXiv:2309.14737v2 Announce Type: replace-cross
Abstract: We introduce an online 2D-to-3D semantic instance mapping algorithm aimed at generating comprehensive, accurate, and efficient semantic 3D maps suitable for autonomous agents in unstructured environments. The proposed approach is based on a Voxel-TSDF representation used in recent algorithms. It introduces novel ways of integrating semantic prediction confidence during mapping, producing semantic and instance-consistent 3D regions. Further improvements are achieved by graph optimization-based semantic labeling and instance refinement. The proposed method achieves accuracy superior to …

2d-to-3d 3d maps abstract agents algorithm algorithms arxiv autonomous autonomous agents confidence consistent cs.cv cs.ro environments instance mapping maps novel prediction representation semantic type unstructured voxel