Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM
Suman Raj Bista, David Hall, Ben Talbot, Haoyang Zhang, Feras Dayoub, Niko Sünderhauf
Abstract
Recent Semantic SLAM methods combine classical geometry-based estimation with deep learning-based object detection or semantic segmentation. In this paper we evaluate the quality of semantic maps generated by state-of-the-art class-and instance-aware dense semantic SLAM algorithms whose codes are publicly available and explore the impacts both semantic segmentation and pose estimation have on the quality of semantic maps. We obtain these results by providing algorithms with ground-truth pose and/or semantic segmentation data available from simulated environments. We establish that semantic segmentation is the largest source of error through our experiments, dropping mAP and OMQ performance by up to 74.3% and 71.3% respectively.
BibTeX
@inproceedings{iros2021_evaluatingtheimp,
title = {Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM},
author = {Suman Raj Bista and David Hall and Ben Talbot and Haoyang Zhang and Feras Dayoub and Niko Sünderhauf},
booktitle = {IROS 2021},
year = {2021}
}