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Fine semantic mapping based on dense segmentation network

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Abstract

This paper proposes a fine semantic mapping method using dense segmentation network (DS-Net) to obtain good performance of semantic mapping fusion. First, the RGB image and the depth image are used to generate a dense indoor scene map via the state-of-the-art dense SLAM (ElasticFusion). Then, the DS-Net is constructed based on DenseNet’s dense connection to perform precise semantic segmentation on the input RGB image. Finally, the long-term correspondence is established between the indoor scene map and the landmarks using continuous frames both in the visual odometer and in loop detection, and the final semantic map is obtained by fusing the indoor scene map with the semantic predictions of the RGB-D video frames of multiple angles. Experiments were performed on the NYUv2, PASCAL VOC 2012, CIFAR10 datasets and our laboratory environments. Results show that our method can reduce the error in dense map construction and obtain good semantic segmentation performance.

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Acknowledgements

This document is the results of the research projects funded by the National Natural Science Foundation of China (61873008) and Beijing Natural Science Foundation (4182008, 4192010).

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Authors and Affiliations

  1. Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China

    Guoyu Zuo, Tao Zheng, Yuelei Liu, Zichen Xu, Daoxiong Gong & Jianjun Yu

  2. Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing, 100124, China

    Guoyu Zuo, Tao Zheng, Yuelei Liu, Zichen Xu, Daoxiong Gong & Jianjun Yu

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  1. Guoyu Zuo
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  2. Tao Zheng
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  3. Yuelei Liu
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  4. Zichen Xu
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  5. Daoxiong Gong
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Correspondence to Guoyu Zuo.

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Zuo, G., Zheng, T., Liu, Y. et al. Fine semantic mapping based on dense segmentation network. Intel Serv Robotics 14, 47–60 (2021). https://doi.org/10.1007/s11370-020-00341-8

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