Despite impressive advances in simultaneous localization and mapping, dense robotic mapping remains challenging due to its inherent nature of being a high-dimensional inference problem. In this paper, we propose a dense semantic robotic mapping technique that exploits sparse Bayesian models, in particular, the relevance vector machine, for high-dimensional sequential inference. The technique is based on the principle of automatic relevance determination and produces sparse models that use a small subset of the original dense training set as the dominant basis. The resulting map posterior is continuous, and queries can be made efficiently at any resolution. Moreover, the technique has probabilistic outputs per semantic class through Bayesian inference. We evaluate the proposed relevance vector semantic map using publicly available benchmark datasets, NYU Depth V2 and KITTI; and the results show promising improvements over the state-of-the-art techniques.
A common feature of the works mentioned earlier is the discretization of the space prior to map inference which means, once the map is inferred, the prediction cannot be computed at any arbitrary points. In this paper, we propose a novel and alternative solution for the problem of dense 3D map building that is continuous and at the same time sparse. RVSM incrementally learns relevance vectors which are dominant basis in the data, and builds a sparse Bayesian model of the 3D map. As a result, the prediction can be made efficiently at any desired location. The training process that is often more expensive is accelerated by utilizing a sequential sparse Bayesian learning algorithm in @cite_22 . We evaluate RVSM using NYU Depth V2 (NYUDv2) @cite_6 and KITTI datasets and compare the achieved results with the recent works mentioned here.
@cite_22 @cite_6
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The ‘sparse Bayesian’ modelling approach, as exemplified by the ‘relevance vector machine’, enables sparse classification and regression functions to be obtained by linearly-weighting a small number of fixed basis functions from a large dictionary of potential candidates. Such a model conveys a number of advantages over the related and very popular ‘support vector machine’, but the necessary ‘training’ procedure — optimisation of the marginal likelihood function — is typically much slower. We describe a new and highly accelerated algorithm which exploits recently-elucidated properties of the marginal likelihood function to enable maximisation via a principled and efficient sequential addition and deletion of candidate basis functions. We present an approach to interpret the major surfaces, objects, and support relations of an indoor scene from an RGBD image. Most existing work ignores physical interactions or is applied only to tidy rooms and hallways. Our goal is to parse typical, often messy, indoor scenes into floor, walls, supporting surfaces, and object regions, and to recover support relationships. One of our main interests is to better understand how 3D cues can best inform a structured 3D interpretation. We also contribute a novel integer programming formulation to infer physical support relations. We offer a new dataset of 1449 RGBD images, capturing 464 diverse indoor scenes, with detailed annotations. Our experiments demonstrate our ability to infer support relations in complex scenes and verify that our 3D scene cues and inferred support lead to better object segmentation.