ICRA 2018poster30 citations
Semantic Labeling of Indoor Environments from 3D RGB Maps
Manuel Brucker, Maximilian Durner, Rareş Ambruş, Zoltán Csaba Márton, Axel Wendt, Patric Jensfelt, Kai O. Arras, Rudolph Triebel
Abstract
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.
BibTeX
@inproceedings{icra2018_semanticlabeling,
title = {Semantic Labeling of Indoor Environments from 3D RGB Maps},
author = {Manuel Brucker and Maximilian Durner and Rareş Ambruş and Zoltán Csaba Márton and Axel Wendt and Patric Jensfelt and Kai O. Arras and Rudolph Triebel},
booktitle = {ICRA 2018},
year = {2018}
}