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Semantic Labeling of Indoor Environments from 3D RGB Maps
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany..
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany..
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany..
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2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 1871-1878Conference paper, Published paper (Refereed)
Abstract [en]

We present an approach to automatically assign semantic labels to rooms reconstructed from 3D RGB maps of apartments. Evidence for the room types is generated using state-of-the-art deep-learning techniques for scene classification and object detection based on automatically generated virtual RGB views, as well as from a geometric analysis of the map's 3D structure. The evidence is merged in a conditional random field, using statistics mined from different datasets of indoor environments. We evaluate our approach qualitatively and quantitatively and compare it to related methods.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018. p. 1871-1878
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-237161ISI: 000446394501066Scopus ID: 2-s2.0-85063131122ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-237161DiVA, id: diva2:1258331
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Funder
Swedish Research Council, C0475401Swedish Foundation for Strategic Research
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2019-06-12Bibliographically approved

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Ambrus, RaresJensfelt, Patric

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
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  • nn-NB
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  • Other locale
More languages
Output format
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