Semantic 3D mapping for dynamic environments

The development of a semantic 3D mapping for dynamic environments is presented in this study. It is composed of the visual SLAM (Simultaneous Localization and Mapping) part and the semantic point cloud 3D reconstruction. For the visual SLAM part, the feature based visual SLAM, ORB-SLAM2 RGB-D, is mo...

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Main Author: Tan Ai, Richard Josiah C.
Format: text
Language:English
Published: Animo Repository 2019
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Online Access:https://animorepository.dlsu.edu.ph/etd_masteral/6325
https://animorepository.dlsu.edu.ph/cgi/viewcontent.cgi?article=13396&context=etd_masteral
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Institution: De La Salle University
Language: English
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spelling oai:animorepository.dlsu.edu.ph:etd_masteral-133962022-09-13T05:34:24Z Semantic 3D mapping for dynamic environments Tan Ai, Richard Josiah C. The development of a semantic 3D mapping for dynamic environments is presented in this study. It is composed of the visual SLAM (Simultaneous Localization and Mapping) part and the semantic point cloud 3D reconstruction. For the visual SLAM part, the feature based visual SLAM, ORB-SLAM2 RGB-D, is modified with dynamic point rejection using information from semantic segmentation. The semantic segmentation is used to label the scene then keypoints that belong in labels that are dynamic such as person is removed. This allows the SLAM to estimate the agents pose based on the static environment only, which makes the SLAM more robust. The semantic 3D point cloud is generated from the depth map, semantic labels and estimated pose. The developed algorithm was tested on the TUM RGB-D Dataset and it was evaluated based on the ATE and RPE. The developed algorithms is compared to the base algorithm. It was then compared to the other algorithms based on ATE-RMSE. In a self made dataset the performance on the algorithm was tested in indoors and outdoor scenarios in real time and non real time evaluation. 2019-01-01T08:00:00Z text application/pdf https://animorepository.dlsu.edu.ph/etd_masteral/6325 https://animorepository.dlsu.edu.ph/cgi/viewcontent.cgi?article=13396&context=etd_masteral Master's Theses English Animo Repository Texture mapping Three-dimensional imaging Autonomous robots Robot vision Wireless localization
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
language English
topic Texture mapping
Three-dimensional imaging
Autonomous robots
Robot vision
Wireless localization
spellingShingle Texture mapping
Three-dimensional imaging
Autonomous robots
Robot vision
Wireless localization
Tan Ai, Richard Josiah C.
Semantic 3D mapping for dynamic environments
description The development of a semantic 3D mapping for dynamic environments is presented in this study. It is composed of the visual SLAM (Simultaneous Localization and Mapping) part and the semantic point cloud 3D reconstruction. For the visual SLAM part, the feature based visual SLAM, ORB-SLAM2 RGB-D, is modified with dynamic point rejection using information from semantic segmentation. The semantic segmentation is used to label the scene then keypoints that belong in labels that are dynamic such as person is removed. This allows the SLAM to estimate the agents pose based on the static environment only, which makes the SLAM more robust. The semantic 3D point cloud is generated from the depth map, semantic labels and estimated pose. The developed algorithm was tested on the TUM RGB-D Dataset and it was evaluated based on the ATE and RPE. The developed algorithms is compared to the base algorithm. It was then compared to the other algorithms based on ATE-RMSE. In a self made dataset the performance on the algorithm was tested in indoors and outdoor scenarios in real time and non real time evaluation.
format text
author Tan Ai, Richard Josiah C.
author_facet Tan Ai, Richard Josiah C.
author_sort Tan Ai, Richard Josiah C.
title Semantic 3D mapping for dynamic environments
title_short Semantic 3D mapping for dynamic environments
title_full Semantic 3D mapping for dynamic environments
title_fullStr Semantic 3D mapping for dynamic environments
title_full_unstemmed Semantic 3D mapping for dynamic environments
title_sort semantic 3d mapping for dynamic environments
publisher Animo Repository
publishDate 2019
url https://animorepository.dlsu.edu.ph/etd_masteral/6325
https://animorepository.dlsu.edu.ph/cgi/viewcontent.cgi?article=13396&context=etd_masteral
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