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- W3201332968 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." @default.
- W3201332968 created "2021-09-27" @default.
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- W3201332968 date "2021-09-27" @default.
- W3201332968 modified "2023-10-01" @default.
- W3201332968 title "Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM" @default.
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- W3201332968 doi "https://doi.org/10.1109/iros51168.2021.9636271" @default.
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