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Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping | IEEE Journals & Magazine | IEEE Xplore

Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping


Abstract:

This article develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy m...Show More

Abstract:

This article develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy maps, a binary problem, to semantic maps, a multi-class problem. The proposed method provides a unified probabilistic model for both occupancy and semantic probabilities and nicely reverts to the original occupancy mapping framework when only one occupied class exists in obtained measurements. The Bayesian spatial kernel inference relaxes the independent grid assumption and brings smoothness and continuity to the map inference, enabling to exploit local correlations present in the environment and increasing the performance. The accompanying software uses multi-threading and vectorization, and runs at about 2 Hz on a laptop CPU. Evaluations using multiple sequences of stereo camera and LiDAR datasets show that the proposed method consistently outperforms current baselines. We also present a qualitative evaluation using data collected with a bipedal robot platform on the University of Michigan - North Campus.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 2, April 2020)
Page(s): 790 - 797
Date of Publication: 09 January 2020

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