For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously understand the higher level meaning of the scene contexts. Most previous methods focus on geometric 3D reconstruction and scene understanding independently notwithstanding the fact that joint estimation can boost the accuracy of the semantic mapping. In this paper, a dense RGB-D semantic mapping system with a Pixel-Voxel network is proposed, which can perform dense 3D mapping while simultaneously recognizing and semantically labelling each point in the 3D map. The proposed Pixel-Voxel network obtains global context information by using PixelNet to exploit the RGB image and meanwhile, preserves accurate local shape information by using VoxelNet to exploit the corresponding 3D point cloud. Unlike the existing architecture that fuses score maps from different models with equal weights, we proposed a Softmax weighted fusion stack that adaptively learns the varying contributions of PixelNet and VoxelNet, and fuses the score maps of the two models according to their respective confidence levels. The proposed Pixel-Voxel network achieves the state-of-the-art semantic segmentation performance on the SUN RGB-D benchmark dataset. The runtime of the proposed system can be boosted to 11-12Hz, enabling near to real-time performance using an i7 8-cores PC with Titan X GPU.
According to the type of input data, semantic segmentation can be further grouped into three main sub-categories: RGB @cite_15 @cite_6 @cite_18 @cite_14 @cite_2 , RGB-D @cite_11 @cite_22 @cite_4 and 3D @cite_7 @cite_17 semantic segmentation.
@cite_18 @cite_14 @cite_4 @cite_22 @cite_7 @cite_17 @cite_6 @cite_2 @cite_15 @cite_11
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We address the problems of contour detection, bottom-up grouping and semantic segmentation using RGB-D data. We focus on the challenging setting of cluttered indoor scenes, and evaluate our approach on the recently introduced NYU-Depth V2 (NYUD2) dataset [27]. We propose algorithms for object boundary detection and hierarchical segmentation that generalize the gPb-ucm approach of [2] by making effective use of depth information. We show that our system can label each contour with its type (depth, normal or albedo). We also propose a generic method for long-range amodal completion of surfaces and show its effectiveness in grouping. We then turn to the problem of semantic segmentation and propose a simple approach that classifies super pixels into the 40 dominant object categories in NYUD2. We use both generic and class-specific features to encode the appearance and geometry of objects. We also show how our approach can be used for scene classification, and how this contextual information in turn improves object recognition. In all of these tasks, we report significant improvements over the state-of-the-art. In this paper, we address the problems of contour detection, bottom-up grouping, object detection and semantic segmentation on RGB-D data. We focus on the challenging setting of cluttered indoor scenes, and evaluate our approach on the recently introduced NYU-Depth V2 (NYUD2) dataset (, ECCV, 2012). We propose algorithms for object boundary detection and hierarchical segmentation that generalize the @math gPb-ucm approach of (TPAMI, 2011) by making effective use of depth information. We show that our system can label each contour with its type (depth, normal or albedo). We also propose a generic method for long-range amodal completion of surfaces and show its effectiveness in grouping. We train RGB-D object detectors by analyzing and computing histogram of oriented gradients on the depth image and using them with deformable part models (, TPAMI, 2010). We observe that this simple strategy for training object detectors significantly outperforms more complicated models in the literature. We then turn to the problem of semantic segmentation for which we propose an approach that classifies superpixels into the dominant object categories in the NYUD2 dataset. We design generic and class-specific features to encode the appearance and geometry of objects. We also show that additional features computed from RGB-D object detectors and scene classifiers further improves semantic segmentation accuracy. In all of these tasks, we report significant improvements over the state-of-the-art. Semantic segmentation requires a detailed labeling of image pixels by object category. Information derived from local image patches is necessary to describe the detailed shape of individual objects. However, this information is ambiguous and can result in noisy labels. Global inference of image content can instead capture the general semantic concepts present. We advocate that high-recall holistic inference of image concepts provides valuable information for detailed pixel labeling. We build a two-stream neural network architecture that facilitates information flow from holistic information to local pixels, while keeping common image features shared among the low-level layers of both the holistic analysis and segmentation branches. We empirically evaluate our network on four standard semantic segmentation datasets. Our network obtains state-of-the-art performance on PASCAL-Context and NYUDv2, and ablation studies verify its effectiveness on ADE20K and SIFT-Flow. In this paper we address the problem of semantic labeling of indoor scenes on RGB-D data. With the availability of RGB-D cameras, it is expected that additional depth measurement will improve the accuracy. Here we investigate a solution how to incorporate complementary depth information into a semantic segmentation framework by making use of convolutional neural networks (CNNs). Recently encoder-decoder type fully convolutional CNN architectures have achieved a great success in the field of semantic segmentation. Motivated by this observation we propose an encoder-decoder type network, where the encoder part is composed of two branches of networks that simultaneously extract features from RGB and depth images and fuse depth features into the RGB feature maps as the network goes deeper. Comprehensive experimental evaluations demonstrate that the proposed fusion-based architecture achieves competitive results with the state-of-the-art methods on the challenging SUN RGB-D benchmark obtaining 76.27 global accuracy, 48.30 average class accuracy and 37.29 average intersection-over-union score.