2021
DOI: 10.48550/arxiv.2109.14821
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Semantic Dense Reconstruction with Consistent Scene Segments

Yingcai Wan,
Yanyan Li,
Yingxuan You
et al.

Abstract: In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera tracking backbone that propagates objects' labels with high probabilities from full scans to corresponding ones of partial views. Then a dense 3D mesh model of an unknown environment is incrementally generated from the input RGB-D sequence. Benefiting from 2D consistent semant… Show more

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